Name
Title | ||
|---|---|---|
Kinematic Design And Dynamic Analysis Of A Planar Biped Robot Mechanically Coordinated By A Single Degree Of Freedom |
Abstract | ||
|---|---|---|
This paper presents a method of integrating kinematic mechanism design and hybrid system analysis for the design of a single-degree-of-freedom (DOF) planar biped robot that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction of the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOF are coordinated via feedback. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363595 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
robot kinematics,dynamic analysis,actuators,hybrid system,feedback,mechanism design,gravity,leg,humanoid robots | Kinematics,Gait,Control theory,Single degree of freedom,Robot kinematics,Control engineering,Mechanism design,Planar,Engineering,Robot,Hybrid system | Conference |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| J. Mckendry | 1 | 0 | 0.34 |
| B. Brown | 2 | 0 | 0.34 |
| E. R. Westervelt | 3 | 433 | 31.07 |
| James P. Schmiedeler | 4 | 65 | 9.55 |