Paper Info
Title
Semi-Passive Walk And Active Walk By One Bipedal Robot
Abstract
We developed a robot which can do both of active walking (all joints are actively controlled by actuators) and semi-passive walking (hip joints are passive and spring attached). In this paper, we summarize three technologies to achieve the development. The first one is small and high-strength clutch mechanism to sustain massive weight of lifesize robot. The second one is semi-passive walk controller to consider passive joint dynamics. The last one is model parameter identification considering not only body parameters but also environment ones such as ground slope to achieve unstable motion similar to simulated result in real world.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8624983
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
Field
DocType
ISSN
Clutch,Control theory,Simulation,Computer science,Control theory,Robot,Model parameter,Actuator
Conference
2164-0572
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Shintaro Noda1176.25
Fumihito Sugai299.33
Kunio Kojima336.20
Kim-Ngoc-Khanh Nguyen401.35
Yohei Kakiuchi52113.94
Kei Okada6534118.08
Masayuki Inaba72186410.27