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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems
  • Soft robotics
  • Intelligent interaction algorithms for virtual reality, tele-operation and rehabilitation
  • Bio-inspired robotics for improved mobility

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Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet

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Title
Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet
Author
Moon, Jae SungLee, Seong-MinBae, JoonbumYoum, Young Il
Issue Date
2016-11
Publisher
CAMBRIDGE UNIV PRESS
Citation
ROBOTICA, v.34, no.11, pp.2486 - 2498
Abstract
In this paper, we investigate dynamic walking as a convergence to the system's own limit cycles, not to artificially generated trajectories, which is one of the lessons in the concept of passive dynamic walking. For flexible walking, gait transitions can be performed by moving from one limit cycle to another one, and thus, the flexibility depends on the range in which limit cycles exist. To design a bipedal walker based on this approach, we explore period-1 passive limit cycles formed by natural dynamics and analyze them. We use a biped model with knees and point feet to perform numerical simulations by changing the center of mass locations of the legs. As a result, we obtain mass distributions for the maximum flexibility, which can be attained from very limited location sets. We discuss the effect of parameter variations on passive dynamic walking and how to improve robot design by analyzing walking performance. Finally, we present a practical application to a real bipedal walker, designed to exhibit more flexible walking based on this study.
URI
https://scholarworks.unist.ac.kr/handle/201301/11130
URL
http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9609678&fileId=S0263574715000144
DOI
10.1017/S0263574715000144
ISSN
0263-5747
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