In:
auto, Walter de Gruyter GmbH, Vol. 60, No. 11 ( 2012-11), p. 662-672
Abstract:
One key issue in developing walking machines lies in stabilizing the machine during gait. Hexapods are capable of guaranteeing static stability all the time whereas quadrupeds are only able to guarantee this during special gait patterns. Bipeds have to rely on dynamic stability if they want to perform locomotion tasks. The work in this paper is based on gait studies of amputated test subjects who are still able to walk in stable gait patterns, despite of their passive prostheses. To transfer this concept to walking machines, a new biped demonstrator with an artificial spine is introduced. The hip joints and the spine are actuated pneumatically, whereas the knees and feet are off-the-shelf passive prosthetic devices. The mid-term goal is the development of bipedal, underactuated, light-weight, and energy-efficient robots. Apart from the hardware design, the motion generation, which is based on biologically inspired central pattern generators, is described. In addition to that the experimental results and their evaluation are discussed.
Type of Medium:
Online Resource
ISSN:
2196-677X
,
0178-2312
DOI:
10.1524/auto.2012.1039
Language:
English
Publisher:
Walter de Gruyter GmbH
Publication Date:
2012
detail.hit.zdb_id:
629186-7
detail.hit.zdb_id:
2027287-X
SSG:
15,3
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