Walking gait of a planar bipedal robot with four-bar knees
نویسندگان
چکیده
منابع مشابه
Draft : Walking Trajectory Optimization with Rotation of the Feet for a Planar Bipedal Robot with Four-bar Knees
The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. We design walking reference trajectories with dou...
متن کاملWalking trajectory optimization with rotation of the feet for a planar bipedal robot with four-bar knees
The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. We design walking reference trajectories with dou...
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The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements, and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. Two kinds of cyclic walking gaits are considered...
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Simple intuitive control strategies can be used to compel bipedal robots to walk over sloped terrain. We describe an algorithm for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The algorithm is developed based on geometric considerations. The overall algorithm is very simple and does not require the biped to have an extensive sensory...
متن کاملIntuitive Control of a Planar Bipedal Walking Robot
Bipedal robots are diicult to analyze mathematically. However, successful control strategies can be discovered using simple physical intuition and can be described in simple terms. Five things have to happen for a planar bipedal robot to walk. Height has to be stabilized. Pitch has to be stabilized. Speed has to be stabilized. The swing leg has to move so that the feet are in locations which al...
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ژورنال
عنوان ژورنال: Movement & Sport Sciences
سال: 2015
ISSN: 2118-5735,2118-5743
DOI: 10.3917/sm.090.0087