Passive Walking of Biped Emu with Attitude Control of Body-Stability Analysis and Experiment of Walking-
نویسندگان
چکیده
منابع مشابه
Passive walking of biped emu with attitude control of body
The purpose of this paper is to show realization of passive walking of a biped robot Emu that is composed of one body and two legs. The semi-passive walking means that a biped robot walks passively on gentle descent accompanying with attitude control of the body. In the beginning of this paper, we outline the formulation for the passive and semi-passive walking. We analyze, next, stability of t...
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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...
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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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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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2004
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.22.200