Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots
نویسندگان
چکیده
منابع مشابه
Compliant Actuation for Biologically Inspired Bipedal Walking Robots
This thesis deals with compliant actuators and their use in energy efficient walking bipeds. Two types of actuators with adaptable compliance are discussed: PPAM (Pleated Pneumatic Artificial Muscles) and MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator). The PPAM is a design made to overcome shortcomings associated with the existing types of pneumatic ...
متن کاملFall Avoidance and Recovery for Bipedal Robots using Walking Sticks
For humanoid robots to replace humans in dangerous environments, they require a robust fall prevention system that can detect falls, prevent major damage and recover back up to continue on with the task. This paper introduces a system that is capable of fall detection, mitigation and recovery in a robot equipped with walking sticks. Walking sticks allow the humanoid robot to extend its support ...
متن کاملLearning Control of Bipedal Dynamic Walking Robots with Neural Networks
Stability and robustness are two important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF network is chosen as best, despite its weakness at covering high dimension...
متن کاملReduction-based Control of Three-dimensional Bipedal Walking Robots
This paper develops the concept of reduction-based control, which is founded on a controlled form of geometric reduction known as functional Routhian reduction. We prove a geometric property of general serial-chain robots termed recursive cyclicity, identifying the inherent robot symmetries that we exploit with the Subrobot Theorem. This shows that any serial-chain robot can be decomposed for a...
متن کاملCompliant leg behaviour explains basic dynamics of walking and running.
The basic mechanics of human locomotion are associated with vaulting over stiff legs in walking and rebounding on compliant legs in running. However, while rebounding legs well explain the stance dynamics of running, stiff legs cannot reproduce that of walking. With a simple bipedal spring-mass model, we show that not stiff but compliant legs are essential to obtain the basic walking mechanics;...
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: International Journal of Advanced Robotic Systems
سال: 2013
ISSN: 1729-8814,1729-8814
DOI: 10.5772/56926