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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


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

DC Field Value Language Moon, Jae Sung ko Lee, Seong-Min ko Bae, Joonbum ko Youm, Young Il ko 2015-04-02T04:09:36Z - 2015-04-01 ko 2016-11 ko
dc.identifier.citation ROBOTICA, v.34, no.11, pp.2486 - 2498 ko
dc.identifier.issn 0263-5747 ko
dc.identifier.uri -
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. ko
dc.description.statementofresponsibility close -
dc.language 영어 ko
dc.publisher CAMBRIDGE UNIV PRESS ko
dc.title Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet ko
dc.type ARTICLE ko
dc.identifier.scopusid 2-s2.0-84924514022 ko
dc.identifier.wosid 000386129800004 ko
dc.type.rims ART ko
dc.description.scopustc 0 * 2015-11-04 *
dc.identifier.doi 10.1017/S0263574715000144 ko
dc.identifier.url ko
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