Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Abstract 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...

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Bibliographic Details
Main Authors: Kohei Kimura, Noriaki Imaoka, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
Format: Article
Language:English
Published: SpringerOpen 2020-10-01
Series:ROBOMECH Journal
Subjects:
Locomotion
Leg-wheel robot
Stability margin maximization
Fall prevention functions
Online Access:http://link.springer.com/article/10.1186/s40648-020-00182-1

Internet

http://link.springer.com/article/10.1186/s40648-020-00182-1

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