Gait Generation for a Walking Robot with Passive Joints | Zendy

Kazunori KAEDE | Zendy; Tooru Nogai | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Gait Generation for a Walking Robot with Passive Joints

Author(s) -

Kazunori KAEDE,

Tooru Nogai

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0785

Subject(s) - ankle , robot , knee joint , gait , swing , joint (building) , computer science , torque , preferred walking speed , simulation , physical medicine and rehabilitation , engineering , artificial intelligence , medicine , physics , structural engineering , anatomy , mechanical engineering , surgery , thermodynamics

We selected a three-legged robot to study passive walking. The robot consists of one actuated leg and one pair of passive legs. The active leg has a knee joint and an ankle joint. The passive legs, which we call “crutches,” have no knee joints, but it do have passive ankle joints. The crutches and the leg are connected by a hip joint. The robot behavior is passive while it supports itself on its crutches and swings its leg. In order for the robot to have a wide stride and be stable after the leg swings out and lands, a referenced trajectory of the leg's swing is generated by a planar, four-link model simulation to evaluate its posture after the leg lands. The pattern of walking applies to the robot's actual walk on level ground. An additional walking robot that has a knee joint that is permitted to rotate freely has been designed. The lower leg is equipped with a solenoid magnet which keeps the knee joint straight. The knee joint bends and the leg swings in response to a change in the input torque to the hip joint.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research