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This paper proposes a dynamically stable and optimal trajectory generation method for biped robots to walk up and down stairs, based on human motion analysis, since a human walks efficiently without high energy consumption, and the energy-efficient locomotion pattern results in a more natural walking pattern. Seven important elements of the human gait on stairs are identified in the analysis of the...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped robot. In the realization of fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of...
In this paper, we propose a new parallel mechanism of biped robots, each of its legs is composed of two 3-DOF parallel platforms linked serially. The thigh possesses three active linear actuators with a constraint bar and seven passive joints, the shank has two linear actuators to operate pitch and roll motion at the ankle and a rotational actuator for the pitch at the knee. To generate locomotion...
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