Design of four joints and three links biped robot and its gaits

被引：0

作者：

Lee, JW ^{[1
]}

Kim, SH ^{[1
]}

Oh, JH ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Seoul, South Korea

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 6 | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new type of biped walking robot is proposed. It consists of the minimum number of links. Despite the simplicity of the structure, this robot has facile controllability for the basic gaits such as crossing, crawling, standing and turning gait. To determine the optimal structure of the biped robot, we proposed a performance index. The contructed robot performs the basic four gaits under the ZMP (zero moment point) stable margin.

引用

页码：295 / 300

页数：6

共 5 条

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[J]. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE, 1999, 37 (10) : 1319 - 1349
[5] SHIH CL, 1999, IEEE T SYSTEMS MAN C, V29

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