Switch Control between Different Speeds for a Passive Dynamic Walker
نویسندگان
چکیده
منابع مشابه
From 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 کاملStabilization and Walking Control for a Simple Passive Walker Using Computed Torque Method (RESEARCH NOTE)
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...
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 کاملDesign Issues and Applications for a Passive-Dynamic Walker
Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception cl...
متن کاملMeasurement of Walking Gait for 3d Passive Dynamic Biped Walker
Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, whic...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/53733