Title :
Dynamic walking with Dribbel
Author_Institution :
Fac. of EE-MATH-CS, Twente Univ., Enschede
Abstract :
This paper describes the design and construction of Dribbel, a passivity-based walking robot. Dribbel has been designed and built at the Control Engineering group of the University of Twente. This paper focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, is discussed
Keywords :
control engineering computing; control system synthesis; legged locomotion; robot dynamics; Dribbel; design process; dynamic walking; passivity-based walking robot; Hip; Leg; Legged locomotion; Packaging; Predictive models; Proportional control; Robotics and automation; Robots; Solid modeling; Springs;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1678145
