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Stable Walking Dynamics In A Semi-Passive Biped

dc.contributores-ES
dc.creatorRodriguez Herrera, Carlos F.
dc.creatorMartinez Franco, Juan Camilo
dc.creatorMurillo Herrera, Sebastian
dc.date2018-11-26
dc.date.accessioned2018-12-04T14:32:12Z
dc.date.available2018-12-04T14:32:12Z
dc.identifierhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1891
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5767
dc.descriptionSemi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping were explored, obtaining promising results. This work supports the possibility of developing controllable, energy efficient, semi-passive, low cost bipeds.es-ES
dc.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1891/2836
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; 135-142es-ES
dc.titleStable Walking Dynamics In A Semi-Passive Bipedes-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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