| contributor author | J. McKendry | |
| contributor author | B. Brown | |
| contributor author | E. R. Westervelt | |
| contributor author | J. P. Schmiedeler | |
| date accessioned | 2017-05-09T00:29:35Z | |
| date available | 2017-05-09T00:29:35Z | |
| date copyright | October, 2008 | |
| date issued | 2008 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27884#102302_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/138826 | |
| description abstract | This paper presents a method of integrating mechanism design and hybrid system analysis for the design of single-degree-of-freedom (DOF) planar biped robots that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction in the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOFs are coordinated via feedback. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design and Analysis of a Class of Planar Biped Robots Mechanically Coordinated by a Single Degree of Freedom | |
| type | Journal Paper | |
| journal volume | 130 | |
| journal issue | 10 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2965609 | |
| journal fristpage | 102302 | |
| identifier eissn | 1528-9001 | |
| keywords | Motion | |
| keywords | Robots | |
| keywords | Design | |
| keywords | Mechanisms AND Optimization | |
| tree | Journal of Mechanical Design:;2008:;volume( 130 ):;issue: 010 | |
| contenttype | Fulltext | |