DocumentCode
2974344
Title
Simulation study on one leg jumping for biped running
Author
Kawamura, Atsuo ; Sugio, Kenji ; Suzuki, Kouji ; Zhu, Chi
Author_Institution
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
fYear
2004
fDate
25-28 March 2004
Firstpage
433
Lastpage
438
Abstract
The fast movement of biped robot can be achieved by the fast walking, but the further fast motion can be achieved only by the biped running. To pursue this target, one leg running robot is modeled, analyzed and developed. First, it is theoretically analyzed in the one and two dimensional sagital plane models, secondly, the derived mathematical model is simulated by digital computers, and finally a 3-axis experimental robot is developed.
Keywords
digital simulation; legged locomotion; mechanical variables control; spatial variables control; biped robot; biped running; digital computers; mechanical variables control; one leg jumping; spatial variables control; two dimensional sagital plane models; Analytical models; Computational modeling; Computer simulation; Equations; Humans; Leg; Legged locomotion; Mathematical model; Robots; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN
0-7803-8300-1
Type
conf
DOI
10.1109/AMC.2004.1297908
Filename
1297908
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