• DocumentCode
    1162663
  • Title

    Dynamic walking with Dribbel

  • Author

    Dertien, Edwin

  • Author_Institution
    Fac. of EE-MATH-CS, Twente Univ., Enschede
  • Volume
    13
  • Issue
    3
  • fYear
    2006
  • Firstpage
    118
  • Lastpage
    122
  • Abstract
    This paper describes the design and construction of Dribbel, a passivity-based walking robot. Dribbel has been designed and built at the Control Engineering group of the University of Twente. This paper focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, is discussed
  • Keywords
    control engineering computing; control system synthesis; legged locomotion; robot dynamics; Dribbel; design process; dynamic walking; passivity-based walking robot; Hip; Leg; Legged locomotion; Packaging; Predictive models; Proportional control; Robotics and automation; Robots; Solid modeling; Springs;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/MRA.2006.1678145
  • Filename
    1678145
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1162663