DocumentCode
2001820
Title
Active leg compliance for passive walking
Author
Van Der Linde, Richard Quint
Author_Institution
Delft Univ. of Technol., Netherlands
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2339
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680673
Filename
680673
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