Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With   Adaptable Compliant Joints

doi:10.1109/TMECH.2012.2213608

CORC > 北京大学 > 工学院

	Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With Adaptable Compliant Joints
	Huang, Yan ; Vanderborght, Bram ; Van Ham, Ronald ; Wang, Qining ; Van Damme, Michael ; Xie, Guangming ; Lefeber, Dirk
刊名	ieee asme transactions on mechatronics
	2013
关键词	Adaptable compliant joints controlled passive walking passive dynamic walking step length walking velocity ENERGY-CONSUMPTION HUMANOID ROBOT UPPER-BODY ACTUATORS STABILITY WALKERS DESIGN SPEED
DOI	10.1109/TMECH.2012.2213608
英文摘要	Controlled passive walking is an approach that extends the passive walking by adapting the compliance of the joints. Natural motions can be chosen in order to obtain a controllable and energy-efficient walking motion. In this paper, actuators with online adaptable compliance are used based on the concept of controlled passive walking, to obtain adjustable step length and velocity during dynamic bipedal walking. We designed and constructed a bipedal walking robot Veronica which is actuated by the MACCEPA actuators, in which the compliance and equilibrium position can be controlled independently. In addition, a 2-D seven-link bipedal model for simulated walking of Veronica is built to analyze the relation between joint compliance and walking characteristics. Experimental results show that effective walking transitions between different walking speeds and step lengths are realized in both simulations and physical robot experiments.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000321008100019&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Automation & Control Systems; Engineering, Manufacturing; Engineering, Electrical & Electronic; Engineering, Mechanical; SCI(E); EI; 9; ARTICLE; 2; 598-611; 18
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/154492]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Vanderborght, Bram,Van Ham, Ronald,et al. Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With Adaptable Compliant Joints[J]. ieee asme transactions on mechatronics,2013.
APA	Huang, Yan.,Vanderborght, Bram.,Van Ham, Ronald.,Wang, Qining.,Van Damme, Michael.,...&Lefeber, Dirk.(2013).Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With Adaptable Compliant Joints.ieee asme transactions on mechatronics.
MLA	Huang, Yan,et al."Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With Adaptable Compliant Joints".ieee asme transactions on mechatronics (2013).