Thrust Control, Stabilization and Energetics of a Quadruped Running Robot
نویسندگان
چکیده
منابع مشابه
Thrust Control, Stabilization and Energetics of a Quadruped Running Robot
In order to achieve powered autonomous running robots it is essential to develop efficient actuator systems, especially in the case of the actuatorsfor generating the radial thrust in the legs. In addition, the control of the radial thrust of the legs can be a simple, effective method for stabilizing the body pitch in a running gait. This paper presents the mechanical systems, the models and co...
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M. Ahmadi and M. Buehler, http://www.cim.mcgill.ca/~arlweb Center for Intelligent Machines, McGill University, QC H3A 2A7, Canada Abstract This paper presents the experimental implementation of an energy e cient \Controlled Passive Dynamic Running" strategy (CPDR) on a planar onelegged running robot with hip and leg compliance. The approach was introduced via simulations in [1], and tested via ...
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Difficulty: The motor control system in humans and animals is not completely understood. It is not clear what the functions of each of the organs used are and how the parts interact with each other. Therefore, it is difficult to try to implement an animal-like motor control system. Additionally, the actuators that the humans and animals use are completely different from the ones used by robots....
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2008
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364908097063