DocumentCode
1472681
Title
Identification of a Bipedal Robot with a Compliant Drivetrain
Author
Park, Hae-won ; Sreenath, Koushil ; Hurst, Jonathan W. ; Grizzle, Jessy W.
Author_Institution
Dept. of Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA
Volume
31
Issue
2
fYear
2011
fDate
4/1/2011 12:00:00 AM
Firstpage
63
Lastpage
88
Abstract
Research in bipedal robotics aims to design machines with the speed, stability, agility, and energetic efficiency of a human. While no machine built today realizes the union of these attributes, several robots demonstrate one or more of them. The Cornell biped is designed to be highly energy efficient.
Keywords
control system synthesis; identification; legged locomotion; stability; Cornell biped; bipedal robot design; drivetrain; identification; stability; Legged locomotion; Robotos; Stability analysis; Torque;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/MCS.2010.939963
Filename
5730722
Link To Document