منابع مشابه
Controlled Symmetries and Passive Walking 1
It was shown in Spong [1999b] that the passive gaits for a planar 2DOF biped walking on a shallow slope (Goswami et al. [1995]) can be made slope invariant by a passivity based control that compensates only the gravitational torques acting on the biped. In this paper we extend these results to the general case of a 3-D, n-DOF robot. We show that if there exists a passive walking gait, i.e., if ...
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 کامل3D Quasi-passive Walking of Biped Robot with Flat Feet - Gait Comparison between Passive Walking and Quasi-passive Walking -
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...
متن کاملPassive Dynamic Walking Analysis
There are an estimated 1.7 million Americans living with limb loss; further, spinal cord injuries afflict 250,000 Americans [1]. Many patients lose their jobs and their quality of life plummets. Fortunately there have been significant advancements in the design of prosthetic limbs in the last few decades. A noteworthy achievement is the direct integration of a prosthetic device with the brain, ...
متن کاملExploring Passive-Dynamic Walking
Bipedal walking has been demonstrated through physical and computer simulations by McGeer [1] to be possible without actuation or control within a range of shallow slopes. Results from such passive dynamic walkers have led many researchers to believe the mechanics of walking should be understood, in addition to the activation and control issues, for biped locomotion to be realized. Recent work ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2005
ISSN: 0018-9286
DOI: 10.1109/tac.2005.851449