TY - GEN
T1 - A comparative study and development of a passive robot with improved stability
AU - Shafei, Hamid Reza
AU - Sadeghnejad, Soroush
AU - Bahrami, Mohsen
AU - Baltes, Jacky
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84958533374&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-18615-3_36
DO - 10.1007/978-3-319-18615-3_36
M3 - Conference contribution
AN - SCOPUS:84958533374
T3 - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
SP - 443
EP - 453
BT - RoboCup 2014 - Robot World Cup XVIII
A2 - Sugiura, Komei
A2 - Levent Akin, H.
A2 - Bianchi, Reinaldo A.C.
A2 - Ramamoorthy, Subramanian
PB - Springer Verlag
T2 - 18th Annual RoboCup International Symposium, RoboCup 2014
Y2 - 19 July 2014 through 24 July 2014
ER -