Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion

IEEE/ASME Transactions on Mechatronics

Volumn 16, Issue 2, 2011, Pages 310-320

  Tlalolini, David ^a   Chevallereau, Christine ^b   Aoustin, Yannick ^b  

^a l'alimentation et l'Environnement   (France)

^b UNIVERSITÉ DE NANTES   (France)

Author keywords

Biped robot; cyclic walking gait; parametric optimization; robot dynamics

Indexed keywords

BIPED ROBOT; BIPEDAL ROBOT; COST CRITERIA; CYCLIC GAITS; CYCLIC MOTIONS; HUMAN WALKING; HUMANOID ROBOT; OPTIMAL MOTION; PARAMETRIC OPTIMIZATION; PASSIVE IMPACT; ROBOT DYNAMICS; ROTATION MOTIONS; SIMULATION RESULT; SUBPHASES; SUPPORT PHASE; SUPPORT PHASIS; UNDERACTUATED; WALKING GAIT;

ANTHROPOMORPHIC ROBOTS; BIPED LOCOMOTION; ELECTRIC NETWORK PARAMETERS; ENERGY EFFICIENCY; OPTIMIZATION;

ROTATION;

EID: 78951475737     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2010.2042458     Document Type: Article

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