منابع مشابه
Spejbl – the Biped Walking Robot
Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...
متن کاملWalking trajectory control of a biped robot
A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smoot...
متن کاملPlanning walking patterns for a biped robot
Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
متن کاملHumanoid Robot LOLA– Research Platform for High-speed Walking
This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentra...
متن کاملDevelopment of a Biped Walking Robot with Antagonistic Actuation
This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semipassive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonist...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2012
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.30.363