Title :
Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom
Author :
McKendry, J. ; Brown, B. ; Westervelt, E.R. ; Schmiedeler, J.P.
Author_Institution :
Dept. of ME, Ohio State Univ., Columbus, OH
Abstract :
This paper presents a method of integrating kinematic mechanism design and hybrid system analysis for the design of a single-degree-of-freedom (DOF) planar biped robot that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction of the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOF are coordinated via feedback.
Keywords :
feedback; legged locomotion; robot dynamics; robot kinematics; dynamic analysis; dynamic walking gaits; kinematic design; planar biped robot; single degree-of-freedom; Actuators; Feedback; Gravity; Humanoid robots; Leg; Legged locomotion; Rabbits; Robot kinematics; Robot sensing systems; Robotics and automation;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363595