scholarly journals Dynamic Joint Passivization for Bipedal Locomotion

Biped Robots ◽  
10.5772/14588 ◽  
2011 ◽  
Author(s):  
Shohei Kato ◽  
Minoru Ishi
Keyword(s):  
Bipedal Locomotion

The Utility of Interappendicular Connections in Bipedal Locomotion

2017 ◽  
Vol 23 (12) ◽  
pp. 1734-1740 ◽  
Author(s):  
David McMillan ◽  
Ray de Leon ◽  
Pierre A. Guertin ◽  
Christine Dy
Keyword(s):  
Bipedal Locomotion

Froude and the contribution of naval architecture to our understanding of bipedal locomotion

2005 ◽  
Vol 21 (3) ◽  
pp. 350-362 ◽  
Author(s):  
Christopher L. Vaughan ◽  
Mark J. O’Malley
Keyword(s):  
Bipedal Locomotion ◽  
Naval Architecture

scholarly journals Planar covariation of limb elevation angles during bipedal locomotion in common quails (Coturnix coturnix)

2014 ◽  
Vol 217 (22) ◽  
pp. 3968-3973 ◽  
Author(s):  
N. Ogihara ◽  
T. Oku ◽  
E. Andrada ◽  
R. Blickhan ◽  
J. A. Nyakatura ◽  
...  
Keyword(s):  
Bipedal Locomotion ◽  
Coturnix Coturnix

scholarly journals Torso height optimization for bipedal locomotion

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880444 ◽  
Author(s):  
Arne-Christoph Hildebrandt ◽  
Konstantin Ritt ◽  
Daniel Wahrmann ◽  
Robert Wittmann ◽  
Felix Sygulla ◽  
...  
Keyword(s):  
Real Time ◽  
Kinematic Model ◽  
Bipedal Locomotion ◽  
Full Potential ◽  
Normal Walking ◽  
Kinematic Range ◽  
Bipedal Robots ◽  
Uneven Terrain ◽  
2D Model

Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also take into account the kinematic limits as well as collisions in real time is one of the main challenges towards that goal. We present an approach to generate adaptable torso height trajectories to exploit the full kinematic range in bipedal locomotion. A simplified 2D model approximates the robot’s full kinematic model for multiple steps ahead. It is used to optimize the torso height trajectories while taking future motion kinematics into account. The method significantly improves the robot’s motion not only while walking in uneven terrain, but also during normal walking. Furthermore, we integrated the method in our framework for autonomous walking and we validated its real-time character in successfully conducted experiments.

scholarly journals Interdependence of balance mechanisms during bipedal locomotion

PLoS ONE ◽  
2019 ◽  
Vol 14 (12) ◽  
pp. e0225902 ◽  
Author(s):  
Tyler Fettrow ◽  
Hendrik Reimann ◽  
David Grenet ◽  
Elizabeth Thompson ◽  
Jeremy Crenshaw ◽  
...  
Keyword(s):  
Bipedal Locomotion
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