Title :
A study for high speed compliant legged robot
Author :
Oh-Seok Kwon ; RockHyun Choi ; Dong-Ha Lee
Author_Institution :
Robot. Res. Div., DGIST, Daegu, South Korea
Abstract :
Recently, we study for high speed compliant legged robot. We use the biologically inspired approach and simple trajectory generation for the control method. We obtained about 4.15m/s with compliant initial leg length 0.1m robot. In this paper, we present the control method and the experimental result.
Keywords :
legged locomotion; trajectory control; biologically inspired approach; control method; high speed compliant legged robot; trajectory generation; Ambient intelligence; Biological system modeling; Legged locomotion; Numerical models; Trajectory; Compliant legged robot; self-stability; spring-mass model;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462963
