Abstract
The purpose of this work is to study the effect of placing passive storage elements (springs) along the robot legs on its performance. We first present the model of a planar passive dynamic walker with compliant ground contact model, then replace its rigid legs with compliant legs. Simulation results validate the effectiveness of compliant legs in improving the performance (robustness and velocity) of the robot.
Original language | Undefined |
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Title of host publication | Proceedings of the 18th IFAC World Congress 2011 |
Publisher | International Federation of Automatic Control (IFAC) |
Pages | - |
Number of pages | 6 |
ISBN (Print) | 978-3-902661-93-7 |
DOIs | |
Publication status | Published - Aug 2011 |
Event | 18th IFAC World Congress 2011 - Milan, Italy Duration: 28 Aug 2011 → 2 Sep 2011 Conference number: 18 https://www.ifac2011.org/ |
Publication series
Name | |
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Publisher | International Federation of Automatic Control (IFAC) |
Volume | 18 |
ISSN (Print) | 1474-6670 |
Conference
Conference | 18th IFAC World Congress 2011 |
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Country/Territory | Italy |
City | Milan |
Period | 28/08/11 → 2/09/11 |
Internet address |
Keywords
- METIS-278711
- Compliancy
- Bipedal Robot
- EC Grant Agreement nr.: FP7/231554
- Passive Dynamic Walking
- Limit Cycles
- EWI-20075
- IR-77998