| dc.contributor | | es-ES |
| dc.creator | Wang, Ke | |
| dc.creator | Shah, Aksat | |
| dc.creator | Kormushev, Petar | |
| dc.date | 2018-11-26 | |
| dc.date.accessioned | 2018-12-04T14:32:05Z | |
| dc.date.available | 2018-12-04T14:32:05Z | |
| dc.identifier | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1883 | |
| dc.identifier.uri | http://ridda2.utp.ac.pa/handle/123456789/5671 | |
| dc.description | This 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.format | application/pdf | |
| dc.language | spa | |
| dc.publisher | Universidad Tecnológica de Panamá | es-ES |
| dc.relation | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1883/2829 | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.rights | https://creativecommons.org/licenses/by-nc-sa/4.0/ | |
| dc.source | Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 109-116 | es-ES |
| dc.subject | Bipedal Walking; Legged Robot Design; Gait Pattern Generation | es-ES |
| dc.title | Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion | es-ES |
| dc.type | info:eu-repo/semantics/article | |
| dc.type | info:eu-repo/semantics/publishedVersion | |
