Title :
Some Results on the Study of 3d Biped Robot
Author :
Liu, Zhenze ; Tian, Yantao
Author_Institution :
Coll. of Commun. Eng., Jilin Univ., Changchun, China
Abstract :
The focus of the work is a relative further study of the passive gait of 3D biped robot on inclined slopes that Russ Tedrake presented. The robot is equivalent to a double pendulum, possessing two point-feet legs with point masses and a third point mass at the “hip” joint. All the research above will have realistic significance in helping us to be better aware of walking rules and global properties of the 3D biped gaits of the robot.
Keywords :
legged locomotion; nonlinear control systems; pendulums; 3D biped gaits; 3D biped robot; double pendulum; global properties; hip joint; passive gait; point masses; third point mass; two point-feet legs; walking rules; Equations; Leg; Legged locomotion; Limit-cycles; Mathematical model; Three dimensional displays; Kneed Passive Walking Energy conversion Simulation Limit cycle;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.649
