Investigation of Interactions between Embodiment and its Controller Using a Passive Dynamic Walking Robot
نویسندگان
چکیده
منابع مشابه
the investigation of the relationship between type a and type b personalities and quality of translation
چکیده ندارد.
From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
متن کاملPassive dynamic walking of a kneeless biped robot with torso
The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle. we present recent results of trajectory sensitivity analysis to effeciently determine the stability of limit cycles for the biped robot.
متن کامل3D Quasi-passive Walking of Biped Robot with Flat Feet - Gait Comparison between Passive Walking and Quasi-passive Walking -
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...
متن کاملDevelopment of Multi-legged Passive Dynamic Walking Robot
This research realizes and analyze Multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Multi-legged PDW,” which is a PDW with more ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 2003
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss.123.1031