Design of small power biped robot by load sharing of walking gait

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3359-3364

  Kim, Dong Jun ^a   Kim, Kab Il ^a   Zheng, Yuan F ^b   Sun, Zengqi ^c   Sun, Fuchun ^c  

^a Myong Ji University   (South Korea)

^b The Ohio State University   (United States)

^c TSINGHUA UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

LOAD SHARING; ONE FOOT STANDING; SMALL POWER BIPED ROBOT; TWO FOOT STANDING; WALKING GAIT;

ACTUATORS; BIPED LOCOMOTION; EQUATIONS OF MOTION; MOTION CONTROL; SERVOMOTORS; SYSTEM STABILITY; TWO TERM CONTROL SYSTEMS; UNIVERSAL JOINTS;

MOBILE ROBOTS;

EID: 0033691408     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2000.845231     Document Type: Article

References (9)

1. M. Vukobratovic and A. A. Frank, "Legged locomotion studies," Advances in External Control of Human Extremities, M. H. Gavrilovic and A. B. Wilson Jr., eds. Belgrade: Yugoslav Committee for Electronics and Automation, pp. 407-430, 1969.
2. M. Vukobratovic, A. A. Frank, and D. Juricic, "On the stability of biped locomotion," IEEE Trans. on Bio-Med. Eng., vol. BME-17, no. 1, pp. 25-36, 1970.
3. F. Gubina, H. Hemami and R. B.McGhee, "On the dynamic stability of biped locomotion," IEEE Trans. on Bio-Med. Eng. vol. BME-21, no. 2, pp. 102-108. March 1974.
4. Y. F. Zheng, Modeling, control and simulation of three dimensional robotic systems with applications to biped locomotion, Ph.D. dissertation, The Ohio State University, 1984.
5. st CISM-IFToMM Symposium on Theory And Practice of Robots and Manipulators, Berlin, Germany: Springer-Verlag, 1974.
6. A. Takanishi, M. Ishida, Y. Yamazaki, and I. Kato, "The realization of dynamic walking by the biped walking robot WL-10RD," Proc. 1985 Int. Conf. on Advanced Robotics, pp. 459-466, Sept. 1985.
7. Y. F. Zheng, "Design, construction and motion control of the SD-2 biped robot," Technical Report, Clemson University, submitted to the Savanna Power Plant, 1986.
8. K. Y. Yi and Y. F. Zheng, "Biped locomotion by reduced ankle power," Proc. IEEE Int. Conf. on Robotics and Automation, pp. 584-589, April 1996.
9. K. I. Kim and Y. F. Zheng, "Unknown load distribution of two industrial robots," Proc. 1991 IEEE Int. Conf. on Robotics and Automation, pp. 992-997, April 1991