Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking
2017 ◽
Vol 29
(3)
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pp. 490-499
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Keyword(s):
Speed Up
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[abstFig src='/00290003/04.jpg' width='120' text='Stick diagram of limit cycle walking with asymmetric swing-leg motion' ] This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.
Keyword(s):
2008 ◽
Vol 27
(9)
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pp. 989-1005
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2008 ◽
Vol 2008
(0)
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pp. _1P1-B04_1-_1P1-B04_4
2014 ◽
Vol 2014
(0)
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pp. _2A2-I07_1-_2A2-I07_4