Self-Excited Walking of a Biped Mechanism
نویسندگان
چکیده
This paper present a self-excited walking of a fourlink biped mechanism which possesses an actuated hip joint and passive knee joints. First we manifested that this self-excitation control enables 3-DOF planar biped model to walk on a level ground, by numerical simulation. Next we showed experimental study of a manufactured planar biped walking robot. We demonstrated that stable walking can be realized on a slightly inclined plane by the self-excitation control.
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عنوان ژورنال:
- I. J. Robotics Res.
دوره 20 شماره
صفحات -
تاریخ انتشار 2001