Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 20, Issue 12, Pages 953-966Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/02783640122068218
Keywords
biped mechanism; walking locomotion; self-excitation; natural motion; self-excited walking
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The authors studied the self-excited walking of a four-link biped mechanism that possesses an actuated hip joint and passive knee joints with stoppers. They showed that the self-excitation control enables the three-degree-of-freedom planar biped model to walk on level ground by numerical simulation. From the parameter study, it was found that stable walking locomotion is possible over a wide range of feedback gain and link parameter values and that the walking period is almost independent of the feedback gain. Various characteristics of the self-excited walking of a biped mechanism were examined in relation to leg length, and length and mass ratios of the shank. Next, a biped mechanism was manufactured similar to the analytical model. After parameter modification, the authors demonstrated that the biped robot can perform natural dynamic walking on a plane with a 0.8 degree inclination. The simulated results also agree with the experimental walking locomotion.
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