ANALYSES OF GAIT TRANSITION IN QUASI-PASSIVE DYNAMIC WALKING LOCOMOTION

被引：0
|
作者：
Okamoto, Takaki [1 ]
Sugimoto, Yasuhiro [1 ]
Sueoka, Yuichiro [1 ]
Osuka, Koichi [2 ]
机构：
[1] Osaka Univ, Dept Mech Engn, 2-2 Yamadaoka, Suita, Osaka 5650871, Japan
[2] JST, CREST, Tokyo, Japan
来源：
ADVANCES IN COOPERATIVE ROBOTICS | 2017年
关键词：
Passive dynamic walking; Quadrupedal locomotion; Rocking motion; Gait transition;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The study of passive dynamic walking, among other techniques, is used to understand how animals walk. In our previous study, a quadrupedal robot inspired by passive dynamic walking was developed. This robot, named "Duke," performed quasi-passive dynamic walking which is a mixture of passive dynamic walking and nonholonomic motion. For this paper, a new robot named "Duke-II" was developed in order to investigate this type of motion more analytically. The robot was tested walking under various conditions. Duke-II showed gait transitions in some situations, which are analyzed in this paper.
引用
收藏
页码：412 / 419
页数：8
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