Elastic coupling of limb joints enables faster bipedal walking
نویسندگان
چکیده
منابع مشابه
Elastic coupling of limb joints enables faster bipedal walking.
The passive dynamics of bipedal limbs alone are sufficient to produce a walking motion, without need for control. Humans augment these dynamics with muscles, actively coordinated to produce stable and economical walking. Present robots using passive dynamics walk much slower, perhaps because they lack elastic muscles that couple the joints. Elastic properties are well known to enhance running g...
متن کاملVirtual coupling control for dynamic bipedal walking
In our previous works, we have proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in realtime, however, the robust performance of the methods have not been discussed yet. Based on the observation we propose a new coupling control law considering flywheel’s effect for robustness. In this paper the validity of the methods is analyze...
متن کاملSimulation of Bipedal Walking
A 3-dimensional computer model of sustained bipedal walking is presented. It is intended be used as a development tool for walking controllers. The direct dynamic simulation has 8 segments, 19 degrees of freedom and is driven by prescribed joint moment and stiffness trajectories. Limited feedback in the form of a proportional-derivative controller provides upper body stability and allows walkin...
متن کاملOptimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings – mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling b...
متن کاملTowards Smooth Bipedal Walking
mission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract In this paper we examine exchange-of-support for a simple planar bipedal robot. We derive a set of conditions which will...
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: Journal of The Royal Society Interface
سال: 2008
ISSN: 1742-5689,1742-5662
DOI: 10.1098/rsif.2008.0415