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.


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    Titel :

    Experimental BIPedal Walking


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / Azevedo, Christine (Autor:in) / Andreff, Nicolas (Autor:in) / Arias, Soraya (Autor:in) / Espiau, Bernard (Autor:in)


    Erscheinungsdatum :

    2003-06-30


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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