NDLI: Actuated Dynamic Walking in a Seven-Link Biped Robot

Content Provider	IEEE Xplore Digital Library
Author	Braun, D.J. Mitchell, J.E. Goldfarb, M.
Copyright Year	1996
Abstract	The authors have previously described a method for enabling fully actuated biped walking without prescribing joint angle trajectories or imposing kinematic constraints between joints. This method was hypothesized to offer a more natural-looking bipedal gait and a higher locomotive efficiency relative to methods requiring accurate joint trajectory tracking. In this paper, the authors present experimental evidence to support both hypotheses. Specifically, the authors describe the design of a seven- link bipedal robot appropriate for the previously proposed control method; present the implementation of the "nonkinematic" control approach on the biped robot; demonstrate (with data, photo- graphic sequences, and video) the "relaxed" style of walking resulting from the control method; and experimentally characterize the locomotive efficiency of the biped in terms of the mechanical cost of transport. The latter results are compared to corresponding measures reported elsewhere in the literature.
Starting Page	147
Ending Page	156
Page Count	10
File Size	1009603
File Format	PDF
ISSN	10834435
Volume Number	17
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Legged locomotion Robot kinematics Trajectory Knee Actuators robot control and design Actuated dynamic walking biped robot biped walking
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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