Level-ground walk based on passive dynamic walking for a biped robot with torso

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

This study presents a design technique of an efficient biped walking robot on level ground with a simple mechanism based on passive-dynamic walking. A torso is used to generate active power replacing gravity used in passive walk. Swing-leg control is introduced to create a steady gait. Numerical simulations show that a biped robot with knees and a torso can walk efficiently on level ground. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably over a wide range of speed. Furthermore, the walking performance of the robot increases with the increase of the radius of circular feet.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ3224-3229
ページ数6
DOI
出版ステータスPublished - 2007 11 27
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
継続期間: 2007 4 102007 4 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域Italy
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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