Effect of gravity balancing on biped stability
Agrawal, A.; Agrawal, S.K.
Robotics and Automation, 2004. Proceedings. ICRA apos;04. 2004 IEEE International Conference on
Volume 4, Issue , April 26-May 1, 2004 Page(s): 4228 - 4233 Vol.4
Digital Object Identifier   10.1109/ROBOT.2004.1308941
Summary: Gravity balancing is often used in industrial machines to decrease the actuator efforts during motion. Through the use of rehabilitation devices one can also partially balance the leg during motion with the goal to reduce net joint torque during motion. However, it is not clear as to what are the effects of such devices on legged locomotion. This paper aims to study the effect of such gravity balancing devices on the motion of bipeds during walking.

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