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
fDate :
4/1/2011 12:00:00 AM
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;
Journal_Title :
Control Systems, IEEE
DOI :
10.1109/MCS.2010.939963
