期刊文献+
共找到1篇文章
< 1 >
每页显示 20 50 100
Development of Minimalist Bipedal Walking Robot with Flexible Ankle and Split-mass Balancing Systems 被引量:4
1
作者 Hudyjaya Siswoyo Jo1Nazim Mir-Nasiri 《International Journal of Automation and computing》 EI CSCD 2013年第5期425-437,共13页
This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decouplin... This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous. 展开更多
关键词 bipedal robot bipedal walking stability control robot dynamics legged locomotion
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部