منابع مشابه
Energy Analysis During Biped Walking
This paper describes the dynamic analysis of biped locomotion systems. A planar biped is inodelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip height, hip ripple, hip oflset, foot clearance and link lengths, Afterwards, three cost functions related to energy are pro...
متن کاملA dynamically-Balanced Walking Biped
Describes the mechanical, electronic and software design of a 10-DOF bipedal robot which has been constructed to study control, parameterisation and automatic expansion of the stability envelope of a complex real-time behaviour, namely, dynamically-balanced two-legged walking. The machine is physically complete and demonstrates reasonable reliability in movement control including dynamically-ba...
متن کاملSpejbl – 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 کاملToward Efficient and Robust Biped Walking Optimization
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish to demonstrate the importance of (a) considering and quantifying not only energy efficiency but also robustness of gaits, and (b) optimization not only of n...
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...
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ژورنال
عنوان ژورنال: The Japanese journal of ergonomics
سال: 1989
ISSN: 0549-4974,1884-2844
DOI: 10.5100/jje.25.supplement_28