Title :
Simulation study on one leg jumping for biped running
Author :
Kawamura, Atsuo ; Sugio, Kenji ; Suzuki, Kouji ; Zhu, Chi
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Abstract :
The fast movement of biped robot can be achieved by the fast walking, but the further fast motion can be achieved only by the biped running. To pursue this target, one leg running robot is modeled, analyzed and developed. First, it is theoretically analyzed in the one and two dimensional sagital plane models, secondly, the derived mathematical model is simulated by digital computers, and finally a 3-axis experimental robot is developed.
Keywords :
digital simulation; legged locomotion; mechanical variables control; spatial variables control; biped robot; biped running; digital computers; mechanical variables control; one leg jumping; spatial variables control; two dimensional sagital plane models; Analytical models; Computational modeling; Computer simulation; Equations; Humans; Leg; Legged locomotion; Mathematical model; Robots; Springs;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297908
