• DocumentCode
    133045
  • Title

    Wobbling mass effects for a walking robot with inerters

  • Author

    Watanabe, Manabu ; Hayashi, Teruaki ; Yamakitao, Masaki

  • Author_Institution
    Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol., Tokyo, Japan
  • fYear
    2014
  • fDate
    9-12 Sept. 2014
  • Firstpage
    1073
  • Lastpage
    1078
  • Abstract
    In this paper, we show an effect of wobbling mass for a walking robot with inerters. In our previous papers, it was shown that wobbling mass improves walking performance of a walking robot with round shape feet. In this paper, it is shown that the wobbling mass also improves walking performance of a robot with impedance properties at ankles including inerters.
  • Keywords
    gait analysis; legged locomotion; robot dynamics; ankles; inerters; round shape feet; walking robot; wobbling mass effects; Force; Gears; Legged locomotion; Limit-cycles; Mathematical model; Trajectory; Impedance; Inerter; Walking robot;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE Annual Conference (SICE), 2014 Proceedings of the
  • Conference_Location
    Sapporo
  • Type

    conf

  • DOI
    10.1109/SICE.2014.6935251
  • Filename
    6935251
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=133045