DocumentCode
2530303
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
fYear
1998
fDate
29 Jun-1 Jul 1998
Firstpage
76
Lastpage
81
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location
Coimbra
Print_ISBN
0-7803-4484-7
Type
conf
DOI
10.1109/AMC.1998.743473
Filename
743473
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