Title :
Design of 4 joints 3 links biped robot and its gaits
Author :
Kim, Sung-Hoon ; Oh, Jun-Ho ; Lee, Ki-Hoon
Author_Institution :
Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
In this paper, the new type biped walking robot which is composed of a minimum number of links just for walking and its appropriate gaits are experimented. The proposed new gaits for this robot are: the four-crossing, crawling, standing and turning gaits. Dynamically stable walking of the biped robot is implemented by satisfying the stability condition of the zero moment point
Keywords :
mobile robots; motion control; path planning; robot dynamics; stability; biped robot; crawling; four-crossing gait; mobile robots; stability; standing gait; trajectory planning; turning gait; walking robot; zero moment point; Appropriate technology; Control system synthesis; Foot; Leg; Legged locomotion; Mechanical engineering; Robot sensing systems; Stability criteria; Torso; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893175
