DocumentCode
3026592
Title
Design of a dynamically stable horizontal plane runner
Author
Shill, Jacob ; Miller, Bruce ; Schmitt, John ; Clark, Jonathan E.
Author_Institution
Dept. of Mech. Eng., FAMU & FSU Coll. of Eng., Tallahassee, FL, USA
fYear
2010
fDate
3-7 May 2010
Firstpage
4749
Lastpage
4754
Abstract
This paper describes the development of a horizontal-plane dynamic running robot based on a reduced order locomotion model, the Lateral-Leg Spring (LLS) model. Contributions include the development of a scaled, actuated, distributed mass simulation of the model, control approaches to compensate for physical and motor limitations, and the design and fabrication of bipedal running robot that instantiates the horizontal plane dynamics of the LLS model.
Keywords
legged locomotion; robot dynamics; bipedal running robot; horizontal-plane dynamic running robot; lateral leg spring model; plane runner; reduced order locomotion model; Animals; Design engineering; Jacobian matrices; Leg; Legged locomotion; Robot kinematics; Robotics and automation; Springs; Stability; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509847
Filename
5509847
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