Partial Leg Exchange and Active CG Control
نویسندگان
چکیده
In this paper, partial leg exchange gait for twin-frame walking robot is proposed. This twin-frame walking robot doesn’t have the degrees of freedom (DOF) for moving the center of gravity (CG). Thus, it is impossible to increase the stability margin actively. But using this proposal method, CG can move in the leg exchange phase and obtain enough stability margins. Proposal gait motion is verified through experiments using mechanical model ParaWalker-II.
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