DocumentCode
414451
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
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
4228
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308941
Filename
1308941
Link To Document