By Topic

An anthropomorphic biped robot: dynamic concepts and technological design

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Sardain, P. ; Lab. de Mecanique des Solides, Poitiers Univ., France ; Rostami, M. ; Bessonnet, G.

The authors of this study are a part of a joint project, involving four French laboratories, whose goal is the design and construction of a mechanical biped robot with anthropomorphic characteristics. In the first section of this paper, we will examine mechanical architectures of some representatives of state-of-the art biped robots by focusing on their kinematic arrangement. It is widely known that the existence of natural gaits is closely linked to the intrinsic dynamic characteristics of the mechanical structure of the biped robot. In order to further develop this idea, two studies will be presented in the second section: the first is relative to the lateral instability of the system while the second deals with the existence of passive pendular gaits during the swing phase of walking in the sagittal plane. In the last section, in correlation with the observations made, we will gain insight into main characteristics of the mechanical architecture that we have designed for the BIP project: 15 active degrees of freedom (DOF), joints actuated by special transmission system, anthropometric mass distribution

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:28 ,  Issue: 6 )