• DocumentCode
    2419201
  • Title

    FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation

  • Author

    Cotton, Sebastien ; Olaru, Ionut Mihai Constantin ; Bellman, Matthew ; Van der Ven, Tim ; Godowski, Johnny ; Pratt, Jerry

  • Author_Institution
    BioInspired Robotic Lab., Inst. for Human & Machine Cognition, Pensacola, FL, USA
  • fYear
    2012
  • fDate
    14-18 May 2012
  • Firstpage
    2358
  • Lastpage
    2364
  • Abstract
    Bipedal robots are currently either slow, energetically inefficient and/or require a lot of control to maintain their stability. This paper introduces the FastRunner, a bipedal robot based on a new leg architecture. Simulation results of a Planar FastRunner demonstrate that legged robots can run fast, be energy efficient and inherently stable. The simulated FastRunner has a cost of transport of 1.4 and requires only a local feedback of the hip position to reach 35.4 kph from stop in simulation.
  • Keywords
    feedback; legged locomotion; robust control; legged robots; local feedback; new leg architecture; planar FastRunner; planar simulation; robust bipedal robot; stability; Hip; Joints; Knee; Legged locomotion; Springs; Suspensions;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation (ICRA), 2012 IEEE International Conference on
  • Conference_Location
    Saint Paul, MN
  • ISSN
    1050-4729
  • Print_ISBN
    978-1-4673-1403-9
  • Electronic_ISBN
    1050-4729
  • Type

    conf

  • DOI
    10.1109/ICRA.2012.6225250
  • Filename
    6225250
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2419201