| dc.contributor | | es-ES |
| dc.creator | Rodriguez Herrera, Carlos F. | |
| dc.creator | Martinez Franco, Juan Camilo | |
| dc.creator | Murillo Herrera, Sebastian | |
| dc.date | 2018-11-26 | |
| dc.date.accessioned | 2018-12-04T14:32:12Z | |
| dc.date.available | 2018-12-04T14:32:12Z | |
| dc.identifier | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1891 | |
| dc.identifier.uri | http://ridda2.utp.ac.pa/handle/123456789/5767 | |
| dc.description | Semi-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.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/1891/2836 | |
| 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; 135-142 | es-ES |
| dc.title | Stable Walking Dynamics In A Semi-Passive Biped | es-ES |
| dc.type | info:eu-repo/semantics/article | |
| dc.type | info:eu-repo/semantics/publishedVersion | |
