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Biologically inspired motion synthesis method of two-legged robot with compliant feet*

Published online by Cambridge University Press:  13 April 2011

Teresa Zielinska  and
Andrzej Chmielniak
Teresa Zielinska*
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics (WUT–IAAM), ul. Nowowiejska 24, 00-665 Warsaw, Poland
Andrzej Chmielniak
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics (WUT–IAAM), ul. Nowowiejska 24, 00-665 Warsaw, Poland
*
†Corresponding author. E-mail: teresaz@meil.pw.edu.pl
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Summary

This work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological central pattern generator. The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is the reference pattern. The features of generated gait are compared to the human walk. The spring-loaded foot design is presented together with experimental results.

Keywords

Biomimetic robotsBipedsControl of robotic systemsDesignLegged robots
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1049 - 1057
Copyright
Copyright © Cambridge University Press 2011

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Footnotes

*

This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.

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