Environment-adaptive Motion Control for Passive-type Intelligent Walker
نویسندگان
چکیده
منابع مشابه
Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics
With the coming of aging societies, many elderly people have serious problems for their locomotion, because of the decline of the physical strength for walking. If they could not use their legs for walking, their physical strength would be weak gradually and they could not walk finally without assistance of other people or some assist system such as wheel chairs, etc. The walking using legs of ...
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Abstract The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...
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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: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2006
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.72.2185