A simple 3D straight-legged passive walker with flat feet and ankle springs

Terumasa Narukawa, Kazuto Yokoyama, Masaki Takahashi, Kazuo Yoshida

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. The flat feet are connected to the legs with springs at the ankles that produce torsional force while the stance leg is on the ground, mimicking the motion of simple 3D passive walkers with arc-shaped feet. This helps to prevent slipping and to handle the disturbance behavior of the robot. Flat feet are particularly advantageous for yaw stability. Our 3D passive-walker robot with a 0.84-m leg can walk the full length of a 1.8-m slope at about 0.44 m/s.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2952-2957
ページ数6
DOI
出版ステータスPublished - 2008 12 1
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域France
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「A simple 3D straight-legged passive walker with flat feet and ankle springs」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル