Enlarging regions of stable running with segmented legs
In human and animal running spring-like leg behavior is found, and similar concepts have
been demonstrated by various robotic systems in the past. In general, a spring-mass model …
been demonstrated by various robotic systems in the past. In general, a spring-mass model …
[PDF][PDF] Passive variable compliance for dynamic legged robots
KC Galloway - ProQuest Dissertations and Theses, 2010 - Citeseer
Recent developments in legged robotics have found that constant stiffness passive
compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its …
compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its …
Design, modelling and validation of hydraulic servo actuator with passive compliance for legged robots
The hydraulic driven legged robots walking on the ground always encounter impact forces
due to the contacts between feet and ground. Aiming to reduce the impact forces, a novel …
due to the contacts between feet and ground. Aiming to reduce the impact forces, a novel …
Variable speed running on kneed biped robot with underactuation degree two
Y Yi, Z Lin, G Yan - International Journal of Humanoid Robotics, 2014 - World Scientific
This paper presents control strategies for speed regulation on a running kneed biped with
underactuation degree two. The robot under consideration has passive compliant knees and …
underactuation degree two. The robot under consideration has passive compliant knees and …
Stable running on a kneed biped robot with only hip-joint actuation
Y Yi, Z Lin, G Yan - Proceedings of the 10th World Congress on …, 2012 - ieeexplore.ieee.org
Passive dynamic locomotion is well-known for its fabulous advantages in energy efficiency.
In this paper we focus on the level passive running problem of a kneed biped. The knee …
In this paper we focus on the level passive running problem of a kneed biped. The knee …