Title :
Effect of gravity balancing on biped stability
Author :
Agrawal, Abhishek ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA
fDate :
April 26-May 1, 2004
Abstract :
Gravity balancing is often used in industrial machines to decrease the actuator efforts during motion. Through the use of rehabilitation devices one can also partially balance the leg during motion with the goal to reduce net joint torque during motion. However, it is not clear as to what are the effects of such devices on legged locomotion. This paper aims to study the effect of such gravity balancing devices on the motion of bipeds during walking.
Keywords :
gait analysis; gravity; legged locomotion; stability; actuator; biped motion; biped stability; gait analysis; gravity balancing devices; gravity balancing effect; industrial machines; joint torque reduction; legged locomotion; rehabilitation devices; Actuators; Gravity; Hip; Leg; Legged locomotion; Mobile robots; Potential energy; Springs; Stability; Torque;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308941
