NDLI: Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots

Content Provider	IEEE Xplore Digital Library
Author	Chenglong Fu Mei Shuai Yuanlin Huang Jianmei Wang Ken Chen
Copyright Year	2006
Description	Author affiliation: Dept. of Precise Instruments & Mechanology, Tsinghua Univ., Beijing (Chenglong Fu)
Abstract	This paper addresses parametric walking patterns and optimum design issues for an underactuated biped robot. The walking pattern is curved by impact postures and middle postures. Impact postures are regulated by two parameters and middle postures are selected to adapt the swing foot to negotiate obstacles. To evaluate constraint conditions, stability margins, and walking performances, some indices are defined, and the correlations between these indices and the two parameters are illustrated by the corresponding atlases. The optimum design method which considers multi-criteria is carried out by using these atlases. This method provides not only one optimum result, but also an optimum region which contains all feasible optimum results. Using these atlases presented in this paper one can obtain the optimum result with respect to any object(s)
Starting Page	342
Ending Page	347
File Size	6747770
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281634
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Stability Cost function Intelligent robots Foot Polynomials Instruments Mechatronics Design engineering Performance evaluation underactuated biped robots parametric walking optimum atlases
Content Type	Text
Resource Type	Article

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