DocumentCode
2627035
Title
Some Results on the Study of 3d Biped Robot
Author
Liu, Zhenze ; Tian, Yantao
Author_Institution
Coll. of Commun. Eng., Jilin Univ., Changchun, China
Volume
3
fYear
2011
fDate
6-7 Jan. 2011
Firstpage
314
Lastpage
317
Abstract
The focus of the work is a relative further study of the passive gait of 3D biped robot on inclined slopes that Russ Tedrake presented. The robot is equivalent to a double pendulum, possessing two point-feet legs with point masses and a third point mass at the “hip” joint. All the research above will have realistic significance in helping us to be better aware of walking rules and global properties of the 3D biped gaits of the robot.
Keywords
legged locomotion; nonlinear control systems; pendulums; 3D biped gaits; 3D biped robot; double pendulum; global properties; hip joint; passive gait; point masses; third point mass; two point-feet legs; walking rules; Equations; Leg; Legged locomotion; Limit-cycles; Mathematical model; Three dimensional displays; Kneed Passive Walking Energy conversion Simulation Limit cycle;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location
Shangshai
Print_ISBN
978-1-4244-9010-3
Type
conf
DOI
10.1109/ICMTMA.2011.649
Filename
5721486
Link To Document