DocumentCode
1947984
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.
fYear
0
fDate
0-0 0
Firstpage
397
Lastpage
402
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location
Istanbul
Print_ISBN
0-7803-9511-1
Type
conf
DOI
10.1109/AMC.2006.1631692
Filename
1631692
Link To Document