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

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

doi:10.1007/978-3-319-18615-3_36

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

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (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 language	English
Title of host publication	RoboCup 2014 - Robot World Cup XVIII
Editors	Komei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
Publisher	Springer Verlag
Pages	443-453
Number of pages	11
ISBN (Electronic)	9783319186146
DOIs	https://doi.org/10.1007/978-3-319-18615-3_36
Publication status	Published - 2015
Externally published	Yes
Event	18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, Brazil Duration: 2014 Jul 19 → 2014 Jul 24

Publication series

Name	Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume	8992
ISSN (Print)	0302-9743

Other

Other	18th Annual RoboCup International Symposium, RoboCup 2014
Country/Territory	Brazil
City	Joao Pessoa
Period	2014/07/19 → 2014/07/24

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-319-18615-3_36

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

A comparative study and development of a passive robot with improved stability. / Shafei, Hamid Reza; Sadeghnejad, Soroush; Bahrami, Mohsen et al.
RoboCup 2014 - Robot World Cup XVIII. ed. / Komei Sugiura; H. Levent Akin; Reinaldo A.C. Bianchi; Subramanian Ramamoorthy. Springer Verlag, 2015. p. 443-453 (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 8992).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shafei, HR, 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, RAC Bianchi & S Ramamoorthy (eds), RoboCup 2014 - Robot World Cup XVIII. Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science), vol. 8992, Springer Verlag, pp. 443-453, 18th Annual RoboCup International Symposium, RoboCup 2014, Joao Pessoa, Brazil, 2014/07/19. https://doi.org/10.1007/978-3-319-18615-3_36

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

Shafei, Hamid Reza ; Sadeghnejad, Soroush ; Bahrami, Mohsen et al. / A comparative study and development of a passive robot with improved stability. RoboCup 2014 - Robot World Cup XVIII. editor / Komei Sugiura ; H. Levent Akin ; Reinaldo A.C. Bianchi ; Subramanian Ramamoorthy. Springer Verlag, 2015. pp. 443-453 (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)).

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

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