Locomotion of an Underactuated Biped Robot Using a Tail

Locomotion of an Underactuated Biped Robot Using a Tail

by Fernando Juan Berenguer

Type Book
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We have presented in this work a biped mechanism of easy design and construction that is able to walk with only one actuator. The system is attractive for educational and commercial applications due to the simplicity of the applied concepts. In order to reduce the energy consumption of this system, an important problem in actuated bipedal locomotion, we aim for a gait with smooth contact between feet and ground, reduce the joints friction and.

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Title Statements

  • Full title :Locomotion of an Underactuated Biped Robot Using a Tail.

Summary

We have presented in this work a biped mechanism of easy design and construction that is able to walk with only one actuator. The system is attractive for educational and commercial applications due to the simplicity of the applied concepts. In order to reduce the energy consumption of this system, an important problem in actuated bipedal locomotion, we aim for a gait with smooth contact between feet and ground, reduce the joints friction and.

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Edition Statements

  • Publication Date:2007.

Publication Statements

The Physical Object

  • Description:1 online resource

Edition Identifiers

  • ISBN:9783902613158, 3902613157
  • oclc:ocn884022694

Subjects

Open Access Collection

Writers

Fernando Juan Berenguer Felix Monasterio-Huelin

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