A Hip Actuated Passive Dynamic Walking Biped

被引：0

作者：

Stopforth, Riaan ^{[1
]}

Bright, Glen ^{[1
]}

Feng, Chun-tsung ^{[1
]}

机构：

[1] Univ KwaZulu Natal, Sch Mech Engn, Howard Coll, ZA-4041 Durban, South Africa

来源：

2013 IEEE EUROCON | 2013年

关键词：

Passive dynamic walking; Biped; actuated hip joint;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the results, and the experimental data of the walking trajectories were analysed and verified against simulations. It was found that the constructed biped exhibits the same walking trend as the derived theoretical model.

引用

页码：1905 / 1910

页数：6

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