Referenced Items are not available for this document.
This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties.
Published in:
Robotics, IEEE Transactions on
(Volume:27
,
Issue:
1
)
Date of Publication: Feb. 2011
- Page(s):
- 156 - 162
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 11793736
- Digital Object Identifier :
- 10.1109/TRO.2010.2098610
- Product Type:
- Journals & Magazines
- Date of Publication :
- 10 January 2011
- Date of Current Version :
- 04 February 2011
- Issue Date :
- Feb. 2011
- Sponsored by :
- IEEE Robotics and Automation Society
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