Stable Walking Dynamics In A Semi-Passive Biped
Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the exci...
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| Other Authors: | , |
| Format: | article |
| Language: | Spanish |
| Published: |
2018
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| Online Access: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1891 http://ridda2.utp.ac.pa/handle/123456789/5767 |
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| _version_ | 1869652457540288512 |
|---|---|
| author | Rodriguez Herrera, Carlos F. |
| author2 | Martinez Franco, Juan Camilo Murillo Herrera, Sebastian |
| author2_role | author author |
| author_browse | Martinez Franco, Juan Camilo Murillo Herrera, Sebastian Rodriguez Herrera, Carlos F. |
| author_facet | Rodriguez Herrera, Carlos F. Martinez Franco, Juan Camilo Murillo Herrera, Sebastian |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Rodriguez Herrera, Carlos F. Martinez Franco, Juan Camilo Murillo Herrera, Sebastian |
| dc.date.none.fl_str_mv | 2018-11-26 2018-12-04T14:32:12Z 2018-12-04T14:32:12Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1891 http://ridda2.utp.ac.pa/handle/123456789/5767 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1891/2836 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 135-142 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.title.none.fl_str_mv | Stable Walking Dynamics In A Semi-Passive Biped |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping were explored, obtaining promising results. This work supports the possibility of developing controllable, energy efficient, semi-passive, low cost bipeds. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_221e0abfffbfaf597e7d10be074d33fa |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5767 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
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| repository.name.fl_str_mv | |
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| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Stable Walking Dynamics In A Semi-Passive BipedRodriguez Herrera, Carlos F.Martinez Franco, Juan CamiloMurillo Herrera, SebastianSemi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping were explored, obtaining promising results. This work supports the possibility of developing controllable, energy efficient, semi-passive, low cost bipeds.Universidad Tecnológica de Panamá2018-11-262018-12-04T14:32:12Z2018-12-04T14:32:12Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1891http://ridda2.utp.ac.pa/handle/123456789/5767Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 135-142reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1891/2836info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/57672019-11-29T17:34:16Z |
| spellingShingle | Stable Walking Dynamics In A Semi-Passive Biped Rodriguez Herrera, Carlos F. |
| status_str | publishedVersion |
| title | Stable Walking Dynamics In A Semi-Passive Biped |
| title_full | Stable Walking Dynamics In A Semi-Passive Biped |
| title_fullStr | Stable Walking Dynamics In A Semi-Passive Biped |
| title_full_unstemmed | Stable Walking Dynamics In A Semi-Passive Biped |
| title_short | Stable Walking Dynamics In A Semi-Passive Biped |
| title_sort | Stable Walking Dynamics In A Semi-Passive Biped |
| url | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1891 http://ridda2.utp.ac.pa/handle/123456789/5767 |