Walking Pattern Generation of Biped Walking Vehicle in Consideration of Passenger's Passive Dynamic Model
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 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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This paper mainly focuses on the mobile biped robots. It introduces the passive dynamic walking model, the landmark passive dynamic walking robot without knees, review of the development of passive walking robots. and the XZ-01 designed by CUPT, which has broken the Guinness World Records.
متن کاملWalking Pattern Generation for Planar Biped Walking Using Q-learning
In this research, a stable biped walking pattern is generated using reinforcement learning. The biped walking pattern is chosen as a simple third order polynomial. To complete the walking pattern, four boundary conditions are needed. Initial position and velocity and final position and velocity of the joint are selected as boundary conditions. In order to find the proper boundary condition valu...
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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: Journal of the Robotics Society of Japan
سال: 2007
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.25.842