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Author Hanazawa, Y. ♦ Asano, F.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Legged locomotion ♦ Manipulators ♦ Limit-cycles ♦ Torso ♦ Mathematical model ♦ Robot kinematics
Abstract In this paper, we propose a novel speeding-up method for biped walking using a swinging-arms motion based on the principle of an up-and-down wobbling mass. We have shown that biped robots with a wobbling mass can achieve fast walking using an active up-and-down motion of the wobbling mass. We have also shown that the active up-and-down motion increases walking speed of biped robots. We apply this principle to a biped robot with two linked arms like humans for achieving high-speed limit cycle walking. We show that the proposed method achieves high-speed limit cycle walking of biped robots with arms.
Description Author affiliation: Dept. of Appl. Sci. for Integrated Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan (Hanazawa, Y.) || Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan (Asano, F.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 415.86 kB
Page Count 6
Starting Page 5191
Ending Page 5196


Source: IEEE Xplore Digital Library