There are no files associated with this item.
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.citation.endPage | 2498 | - |
dc.citation.number | 11 | - |
dc.citation.startPage | 2486 | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 34 | - |
dc.contributor.author | Moon, Jae Sung | - |
dc.contributor.author | Lee, Seong-Min | - |
dc.contributor.author | Bae, Joonbum | - |
dc.contributor.author | Youm, Young Il | - |
dc.date.accessioned | 2023-12-21T23:09:00Z | - |
dc.date.available | 2023-12-21T23:09:00Z | - |
dc.date.created | 2015-04-01 | - |
dc.date.issued | 2016-11 | - |
dc.description.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. | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.34, no.11, pp.2486 - 2498 | - |
dc.identifier.doi | 10.1017/S0263574715000144 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.scopusid | 2-s2.0-84924514022 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/11130 | - |
dc.identifier.url | http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9609678&fileId=S0263574715000144 | - |
dc.identifier.wosid | 000386129800004 | - |
dc.language | 영어 | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.relation.journalResearchArea | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Flexible walking | - |
dc.subject.keywordAuthor | Gait analysis | - |
dc.subject.keywordAuthor | Passive dynamic Walking | - |
dc.subject.keywordAuthor | Biped with knees | - |
dc.subject.keywordAuthor | Robot design | - |
dc.subject.keywordPlus | DYNAMIC WALKING | - |
dc.subject.keywordPlus | ROBOTS | - |
dc.subject.keywordPlus | GAIT | - |
dc.subject.keywordPlus | EFFICIENT | - |
dc.subject.keywordPlus | MABEL | - |
dc.subject.keywordPlus | MODEL | - |
dc.subject.keywordPlus | CHAOS | - |
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Tel : 052-217-1404 / Email : scholarworks@unist.ac.kr
Copyright (c) 2023 by UNIST LIBRARY. All rights reserved.
ScholarWorks@UNIST was established as an OAK Project for the National Library of Korea.