Title :
Discussion on limitations for the 3D fast biped walking
Author :
Kawamura, Atsuo ; Zhu, Chi ; Takasu, Yusuke ; Ozeki, Masamichi
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ.
Abstract :
The maximum bipedal walking speed is limited by the several factors, such as ZMP criterion, the yaw axis moment slipping, torque saturation of actuators and so on. This paper reveals the theoretical limitations for the fast walking, and the theoretical predictions are partially verified by simulations and experiments
Keywords :
legged locomotion; position control; maximum bipedal walking speed; torque saturation; yaw axis moment slipping; Actuators; Foot; Friction; Ground support; Leg; Legged locomotion; Performance analysis; Predictive models; Shape; Torque;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631692
