A 2-D passive-dynamic-running biped with elastic elements

Dai Owaki; Masatoshi Koyama; Shin'Ichi Yamaguchi; Shota Kubo; Akio Ishiguro

doi:10.1109/TRO.2010.2098610

A 2-D passive-dynamic-running biped with elastic elements

Dai Owaki, Masatoshi Koyama, Shin'Ichi Yamaguchi, Shota Kubo, Akio Ishiguro

Research output: Contribution to journal › Article › peer-review

27 Citations (Scopus)

Abstract

This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties.

Original language	English
Article number	5685293
Pages (from-to)	156-162
Number of pages	7
Journal	IEEE Transactions on Robotics
Volume	27
Issue number	1
DOIs	https://doi.org/10.1109/TRO.2010.2098610
Publication status	Published - 2011 Feb 1

Keywords

Elastic elements
experimental verification
passive-dynamic running (PDR)

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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