BIP is an anthropomorphic walking robot designed for the study of both human and artificial bipedal locomotion. This paper presents an experimental approach to the problem of designing and executing a pattern of gaits on a dedicated 2-legged machine. The movements are designed off-line using a model of the robot and tracked on the real robot with a simple control law. The obtained experimental results validate the accuracy of the model and exhibit the efficiency of the developed controller architecture. A set of 8 walking gaits are analyzed and compared using biomechanical techniques and criteria.
Experimental BIPedal Walking
2003-06-30
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
NTIS | 2008
|Stabilization of bipedal walking based on compliance control
British Library Online Contents | 2016
|Bipedal dynamic walking robot gait with flywheel stabilization
British Library Online Contents | 1997
|