Feet Compliance in Two Legged Locomotion

被引：0

作者：

Zurawska, Magdalena ^{[1
]}

Zielinska, Teresa ^{[1
]}

机构：

[1] Warsaw Univ Technol, Fac Power & Aeronaut Engn, PL-00665 Warsaw, Poland

来源：

NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS | 2015年 / 24卷

关键词：

Feet compliance; Human locomotion;

D O I：

10.1007/978-3-319-09411-3_63

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The concept of compliant robotic foot is proposed and the method of postural equilibration analysis of two-legged robot with compliant feet is proposed. Trajectories of foot reaction force are obtained. Those trajectories are crucial for postural stability evaluation. Presented results are useful for robot motion synthesis and for a compliant feet design. Presented method was tested using simulations, results will be applied in the real robot.

引用

页码：595 / 602

页数：8

共 10 条

[1]

Bruneau O., 1997, P ECPD INT C INT ROB, P1

[2]

Gonzalez de Alba A, 2012, J AUTOM MOBILE ROBOT, V6, P35

[3]

Hashimoto Kenji, 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), P2206, DOI 10.1109/IROS.2010.5650414

[4]

Lee Bum-Joo, 2005, P 16 IFAC WORLD C, V17, P2087

[5]

Meyer F., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P515

[6] Faster and smoother walking of humanoid HRP-2 with passive toe joints [J].

Sellaouti, Ramzi ;

Stasse, Olivier ;

Kajita, Shuuji ;

Yokoi, Kazuhito ;

Kheddar, Abderrahmane .

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, :4909-+

[7]

Song S, 2013, IEEE ENG MED BIO, P3179, DOI 10.1109/EMBC.2013.6610216

[8]

Szumowski M, 2014, PROJECT DESIGN PROTO

[9]

Vukobratovic M., 2004, International Journal of Humanoid Robotics, P1157, DOI [10.1142/S0219843604000083, DOI 10.1142/S0219843604000083]

[10] Robot gait synthesis using the scheme of human motions skills development [J].

Zielinska, Teresa ;

Chew, Chee-Meng ;

Kryczka, Przemyslaw ;

Jargilo, Tomasz .

MECHANISM AND MACHINE THEORY, 2009, 44 (03) :541-558

← 1 →