State of the Art in Bipedal Robots Based on Limit Cycle Walking Paradigm

被引：0

作者：

Roman, M. ^{[1
]}

Blanco, A. ^{[1
]}

Quintero, E. ^{[1
]}

机构：

[1] Ctr Nacl Invest & Desarrollo Tecnol, Cuernavaca, Morelos, Mexico

来源：

2013 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2013) | 2013年

关键词：

Limit cycle walking; passive dynamic walking; bipedal robot; STABILITY;

D O I：

10.1109/ICMEAE.2013.11

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：40 / 45

页数：6

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