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Biped locomotion systems: A kinematic point of view
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Orientador(es)
Resumo(s)
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motin of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the wlaking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
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Descrição
Palavras-chave
Legged locomotion Kinematics Hip Frequency measurement Robots
Contexto Educativo
Citação
Editora
Institute of Electrical and Electronics Engineers