High compliant series elastic actuation for the robotic leg scarleth

Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011

Volumn , Issue , 2012, Pages 507-514

  Hutter, Marco ^a   David Remy, C ^a   Hoepflinger, Mark A ^a   Siegwart, Roland ^a  

^a Institute of Robotics and Intelligent Systems   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATION SYSTEMS; CONTROL STRUCTURE; HOPPING MOTIONS; JOINT TORQUE CONTROL; PASSIVE DYNAMICS; QUADRUPEDAL ROBOT; SERIES ELASTIC ACTUATIONS; SPRING COMPLIANCES;

MOBILE ROBOTS;

ROBOTICS;

EID: 84885670699     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. M. Xie, Z. W. Zhong, L. Zhang, L. B. Xian, L. Wang, H. J. Yang, C. S. Song and J. Li, A Deterministic Way of Planning and Controlling Biped Walking of LOCH Humanoid Robot, International Journal of Industrial Robot 36/4 (2009), pp 314-325.
2. Goswami Dip, Vadakkepat Prahlad, Phung Duc Kien, Genetic algorithmbased optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed, Robotica (2009) volume 27, pp. 355-365.
3. Kajita, S., Kahehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H., Biped Walking Pattern Generation using Preview Control of the Zero-Moment-Point, Proceedings of IEEE International Conference on Robotics and Automation, vol.2, 1620 -1626 (2003).
4. Astolfi, A.; Ortega, R.; Venkatraman, A., Global observer design for mechanical systems with non-holonomic constraints, American Control Conference (ACC), 2010, pp. 202 - 207.