A comparative study and development of a passive robot with improved stability

Hamid Reza Shafei, Soroush Sadeghnejad, Mohsen Bahrami, Jacky Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated. This paper compares three popular models for passive dynamic walkers: Garcia's mode, Wisse's model, and our own extended Wis-se's model with arm. Our research shows that the extended models lead to more energy efficient and stable walking.

Original languageEnglish
Title of host publicationRoboCup 2014 - Robot World Cup XVIII
EditorsKomei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
PublisherSpringer Verlag
Pages443-453
Number of pages11
ISBN (Electronic)9783319186146
DOIs
Publication statusPublished - 2015 Jan 1
Event18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, Brazil
Duration: 2014 Jul 192014 Jul 24

Publication series

NameLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume8992
ISSN (Print)0302-9743

Other

Other18th Annual RoboCup International Symposium, RoboCup 2014
CountryBrazil
CityJoao Pessoa
Period14/7/1914/7/24

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Shafei, H. R., Sadeghnejad, S., Bahrami, M., & Baltes, J. (2015). A comparative study and development of a passive robot with improved stability. In K. Sugiura, H. Levent Akin, R. A. C. Bianchi, & S. Ramamoorthy (Eds.), RoboCup 2014 - Robot World Cup XVIII (pp. 443-453). (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 8992). Springer Verlag. https://doi.org/10.1007/978-3-319-18615-3_36