Name
Abstract | ||
|---|---|---|
This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/TRO.2010.2098610 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
elasticity,legged locomotion,robot dynamics,2D passive-dynamic-running biped,PDR,elastic elements,elastic mechanical properties,physical kneed bipedal robot,Elastic elements,experimental verification,passive-dynamic running (PDR) | Synchronization,Gait,Control theory,Simulation,Artificial intelligence,Robot,Elasticity (economics),Mathematics,Robotics,Actuator | Journal |
Volume | Issue | ISSN |
27 | 1 | 1552-3098 |
Citations | PageRank | References |
9 | 0.57 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Owaki, D. | 1 | 9 | 0.57 |
| Koyama, M. | 2 | 9 | 0.57 |
| Yamaguchi, S. | 3 | 9 | 0.57 |
| Kubo, S. | 4 | 9 | 0.57 |