Walking Control for a Compass-Like Biped Robot under Variable Gravity Based on Passive Dynamic Walking
نویسندگان
چکیده
منابع مشابه
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 کاملBiped Passive Dynamic Walking: A Review
This paper mainly focuses on the mobile biped robots. It introduces the passive dynamic walking model, the landmark passive dynamic walking robot without knees, review of the development of passive walking robots. and the XZ-01 designed by CUPT, which has broken the Guinness World Records.
متن کاملOptimal trajectory generation of compass-gait biped based on passive dynamic walking
This work aims at finding optimal trajectory of compassgait biped walking robot in terms of energy consumption and passive dynamic walking. The planar biped model, an inverted double pendulum, has a free hinge at all joints, i.e., the hip and stance ankle. The impulsive external force is exerted on the swing ankle for short initial period. With the equation of motion, the power of external forc...
متن کاملfrom 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 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: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2012
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.78.2496