منابع مشابه
Stable walking with asymmetric legs.
Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerat...
متن کاملKinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs
In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...
متن کاملRunning and walking with compliant legs
What are the common design and control principles of legged locomotion? To approach this question we ask about the internal leg function, e.g. the number of leg segments, the arrangements of muscles, ligaments and other soft tissue within the leg and the appropriate muscle activation patterns in order to generate a desired leg behavior. On the other hand we need to integrate the leg into an ove...
متن کاملA Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees
Theauthors have built the first three-dimensional, kneed, two-legged, passive-dynamic walking machine. Since the work of Tad McGeer in the late 1980s, the concept of passive dynamics has added insight into animal locomotion and the design of anthropomorphic robots. Various analyses and machines that demonstrate efficient humanlike walking have been developed using this strategy. Human-like pass...
متن کاملReal-time 3D Walking Pattern Generation for a Biped Robot with Telescopic Legs
Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily de ned plane. From this analysis we obtain simple linear dynamics, the ThreeDimensional Linear Inverted Pendulum Mode (3DLIPM). Using a real-time control method based on ...
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ژورنال
عنوان ژورنال: Chinese Journal of Mechanical Engineering
سال: 2018
ISSN: 1000-9345,2192-8258
DOI: 10.1186/s10033-018-0216-7