Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”
نویسندگان
چکیده
منابع مشابه
3D 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...
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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: Strojniški vestnik – Journal of Mechanical Engineering
سال: 2011
ISSN: 0039-2480
DOI: 10.5545/sv-jme.2010.210