Title :
Active leg compliance for passive walking
Author :
Van Der Linde, Richard Quint
Author_Institution :
Delft Univ. of Technol., Netherlands
Abstract :
Previous research has shown that passive (or ballistic) walking is an energetic efficient and mechanical cheap way of walking. Therefore, ballistic walking would be suitable for applications in rehabilitation technology and autonomous robots. Successful application would require a smooth hip trajectory in order to protect respectively the patient or electronics against large velocity changes due to ground collisions. It is shown that an actively adjustable stance leg compliance in combination with a viscous damping can result in smaller hip velocity changes
Keywords :
compliance control; damping; legged locomotion; limit cycles; motion control; robot dynamics; robot kinematics; velocity control; active leg compliance; ballistic walking; biped robot; dynamics; hip trajectory; kinematics; legged locomotion; limit cycle; passive walking; velocity control; viscous damping; Actuators; Frequency; Gravity; Hip; Leg; Legged locomotion; Mechanical systems; Protection; Robots; Springs;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680673
