Title :
A study of foot strike phenomenon for piped walking machine
Author :
Minakata, Hideaki ; Katagiri, Chikara ; Tadakuma, Susumu
Author_Institution :
Chiba Inst. of Technol., Narashino, Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
Biped walking has been regarded as a promising locomotion applicable to medical, nursing and home-service robots. However, the influences of foot strike have not been widely discussed. In this paper, we present the experimental result about the collision between the tip of a 2-link system and the floor. We compare the result with computer simulation. These considerations are used to improve the walking stability and energy efficiency with our actual biped machine
Keywords :
legged locomotion; real-time systems; robot dynamics; stability; 2-link system; energy efficiency; foot strike phenomenon; gait control; legged locomotion; mobile robots; passive dynamics; piped walking machine; real time system; stability; Application software; Computer simulation; Equations; Foot; Leg; Legged locomotion; Medical services; Mobile robots; Stability; Surface treatment;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743473
