Abstract
This article presents the design process used in the NUC to build and control biped robots. There are two main highlights in our methodology. First, the design process allows us to get an appropriate mechanical structure (and appropriate actuators) to get the desired walk because it relies on the modeling of bipedal gait. Second, the trajectory control in the robots follows a gait pattern obtained trough the simulation of a 3 dof passive dynamic walker, joining two different lines of research in bipedal gait in a common ground. We also present the three biped robots built until now at NUC using the presented methodology.
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© 2006 Springer-Verlag Berlin Heidelberg
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Roa, M.A., Ramírez, R.E., Garzón, D.A. (2006). Development of Biped Robots at the National University of Colombia. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_43
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DOI: https://doi.org/10.1007/3-540-26415-9_43
Publisher Name: Springer, Berlin, Heidelberg
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