Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability ma...
Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions
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Publisher
Cham: Springer International Publishing
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Language
English
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Cham: Springer International Publishing
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Contents
This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall...
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Full title
Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions
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TN_cdi_doaj_primary_oai_doaj_org_article_e0585f1c02d6462b96e23c9d5090a488
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_e0585f1c02d6462b96e23c9d5090a488
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ISSN
2197-4225
E-ISSN
2197-4225
DOI
10.1186/s40648-020-00182-1
