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 | |
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