DocumentCode :
2699984
Title :
A novel 6-DoF biped active walking robot — Walking gaits, patterns and experiments
Author :
Guan, Yisheng ; Zhou, Xuefeng ; Zhu, Haifei ; Jiang, Li ; Cai, Chuanwu ; Zhang, Hong ; Hong Zhang
Author_Institution :
Biomimetic & Intell. Robot. Lab., South China Univ. of Technol., Guangzhou, China
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
3542
Lastpage :
3547
Abstract :
Combining the advantages of active and passive walking robots, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, and four walking gaits, namely turning-around gait, foot-wheel hybrid gait, side-stepping gait and turning-over gait are proposed, and their walking patterns and motion planning are presented and analyzed. Walking experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.
Keywords :
legged locomotion; position control; 6-DoF biped active walking robot; locomotion function; walking gaits; Foot; Joints; Legged locomotion; Robot kinematics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5980321
Filename :
5980321
Link To Document :
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