Title :
State of the Art in Bipedal Robots Based on Limit Cycle Walking Paradigm
Author :
Roman, Monica ; Blanco, Alberto ; Quintero, E.
Author_Institution :
Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico
Abstract :
This paper presents information focused upon state of the art bipedal robots based on the paradigm of limit cycle walking. This paradigm consists of reducing the constraints that are used in the joints of the robot, and allowing robot inertia forces to provide energy for its movement. In this way, it is possible to obtain higher energy efficiency and better disturbance rejection. A review of robots based upon this paradigm is provided. The main challenge of these robots is on involving increasing versatility and disturbance rejection.
Keywords :
legged locomotion; robot dynamics; bipedal robots; constraint reduction; disturbance rejection; energy efficiency; limit cycle walking paradigm; robot inertia forces; Hip; Joints; Knee; Legged locomotion; Limit-cycles; Pneumatic systems; Limit cycle walking; bipedal robot; passive dynamic walking;
Conference_Titel :
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on
Conference_Location :
Morelos
Print_ISBN :
978-1-4799-2252-9
DOI :
10.1109/ICMEAE.2013.11
