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Passive dynamic walking robot can walk with low energy consumption and exhibits human-like natural gait. However, because the walking performance greatly or fully depends on the mechanical structural parameters, their walking stability is quite low compared to active walking robot. In other words, proper mechanical parameters are one of the key factors to achieve stable walking for a passive dynamic...
Imitating human joint structure in robotic joints can not only enable biped robots to realize more human-like locomotion, but also help humans to better understand the human body. This paper presents a bio-inspired knee joint for biped robots. The knee joint has the desirable characteristics similar to human knee joint including compliance, changeable instantaneous center of rotation, as well as the...
Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has...
Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model...
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