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Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion

dc.contributores-ES
dc.creatorWang, Ke
dc.creatorShah, Aksat
dc.creatorKormushev, Petar
dc.date2018-11-26
dc.date.accessioned2018-12-04T14:32:05Z
dc.date.available2018-12-04T14:32:05Z
dc.identifierhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1883
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5671
dc.descriptionThis paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the moment of inertia of the leg rotation. SLIDER's ultra-lightweight legs make it suitable for agile locomotion. To test the design, we created a dynamic model of SLIDER in Gazebo and implemented a two-stage walking pattern generator, achieving a walking speed of 0.18 m/s in simulation. A physical prototype of SLIDER is currently under construction for real-world testing.es-ES
dc.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1883/2829
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.sourceMemorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 109-116es-ES
dc.subjectBipedal Walking; Legged Robot Design; Gait Pattern Generationes-ES
dc.titleSlider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motiones-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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