TY - JOUR
T1 - A 2-D passive-dynamic-running biped with elastic elements
AU - Owaki, Dai
AU - Koyama, Masatoshi
AU - Yamaguchi, Shin'Ichi
AU - Kubo, Shota
AU - Ishiguro, Akio
PY - 2011/2
Y1 - 2011/2
N2 - 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.
AB - 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.
KW - Elastic elements
KW - experimental verification
KW - passive-dynamic running (PDR)
UR - http://www.scopus.com/inward/record.url?scp=79951578190&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79951578190&partnerID=8YFLogxK
U2 - 10.1109/TRO.2010.2098610
DO - 10.1109/TRO.2010.2098610
M3 - Article
AN - SCOPUS:79951578190
SN - 1552-3098
VL - 27
SP - 156
EP - 162
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
M1 - 5685293
ER -