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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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dc.contributor.author Moon, Jae Sung ko
dc.contributor.author Lee, Seong-Min ko
dc.contributor.author Bae, Joonbum ko
dc.contributor.author Youm, Young Il ko
dc.date.available 2015-04-02T04:09:36Z -
dc.date.created 2015-04-01 ko
dc.date.issued 2016-11 ko
dc.identifier.citation ROBOTICA, v.34, no.11, pp.2486 - 2498 ko
dc.identifier.issn 0263-5747 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/11130 -
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 *
dc.date.scptcdate 2015-11-04 *
dc.identifier.doi 10.1017/S0263574715000144 ko
dc.identifier.url http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9609678&fileId=S0263574715000144 ko
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