DocumentCode
2922136
Title
State of the Art in Bipedal Robots Based on Limit Cycle Walking Paradigm
Author
Roman, Monica ; Blanco, Alberto ; Quintero, E.
Author_Institution
Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico
fYear
2013
fDate
19-22 Nov. 2013
Firstpage
40
Lastpage
45
Abstract
This paper presents information focused upon state of the art bipedal robots based on the paradigm of limit cycle walking. This paradigm consists of reducing the constraints that are used in the joints of the robot, and allowing robot inertia forces to provide energy for its movement. In this way, it is possible to obtain higher energy efficiency and better disturbance rejection. A review of robots based upon this paradigm is provided. The main challenge of these robots is on involving increasing versatility and disturbance rejection.
Keywords
legged locomotion; robot dynamics; bipedal robots; constraint reduction; disturbance rejection; energy efficiency; limit cycle walking paradigm; robot inertia forces; Hip; Joints; Knee; Legged locomotion; Limit-cycles; Pneumatic systems; Limit cycle walking; bipedal robot; passive dynamic walking;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on
Conference_Location
Morelos
Print_ISBN
978-1-4799-2252-9
Type
conf
DOI
10.1109/ICMEAE.2013.11
Filename
6713953
Link To Document