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https://dspace.mit.edu/bitstream/handle/1721.1/38104/34134574-MIT.pdf?sequence=2
Transfer of Support in a Dynamic Walking Robot by David William Bailey Submitted to the Department of Mechanical Engineering on August 31, 1995, in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering Abstract My goal is to understand how a legged system can transfer support between the feet
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.34.4034
CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): My goal is to understand how a legged system can transfer support between the feet during a dynamic walking gait. My approach is to build a legged robot that uses a dynamic gait and to explore control algorithms that provide smooth transfer. The robot I have built has five links that move in a plane: a pelvis, two ...
http://www.ai.mit.edu/projects/leglab/publications/publications.html
Series Elastic Actuator Development for a Biomimetic Walking Robot.1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sept. 19-22, 1999. Atlanta, GA. ... D. W. Transfer of Support in a Dynamic Walking Robot, M.S. Thesis, M.I.T. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge ...
https://www.sciencedirect.com/science/article/pii/S1877705817302461
Secondly, motion of a quadruped robot under the four legs full support can be regarded as a dynamic system under holonomic constraint, and it make the control more complicated. Robust control maybe a suitable method to solve the problems, but the literatures that use robust control to control the quadruped robot …Cited by: 4
http://robotics.ee.uwa.edu.au/theses/1998-Biped-Nicholls.pdf
ing gaits are being studied. Human beings usually employ a dynamic gait when walking as it is faster and more efficient than static walking [1]. Dynamic walking is characterised by a small period in the walking cycle where the center of gravity of the robot is not projected vertically onto the area of either foot [2]. This requires
http://www.innoc.at/fileadmin/user_upload/_temp_/RiE/Proceedings/19.pdf
behavior and control of a biped walking robot using kinematic and dynamic relations. At first, by using simple model of humanoid robot and essentional equations the angles, angular velocities, accelerations of motors and required torques for moving on a straight line are find out. In the second step considering numerical values of the robot
http://groups.csail.mit.edu/robotics-center/public_papers/Tedrake04.pdf
Actuating a Simple 3D Passive Dynamic Walker Russ Tedrake Computer Science and ... walking robots, known as passive dynamic walkers, which walk stably down a small decline without the use of any motors. The most impressive passive dynamic walker [2] has ... Only the transfer of support as
https://waseda.pure.elsevier.com/en/publications/realization-of-dynamic-walking-by-the-biped-walking-robot-wl-10rd
The purpose of this study is to accomplish 'Dynamic Walking' by a biped walking robot WL-10RD on a disturbance-free flat floor. Generally, one walking cycle is divided into two phases, a 'Single Support Phase' and a 'Change Over Phase'.Cited by: 165
https://link.springer.com/chapter/10.1007/3-540-29461-9_54
David A., Bruneau O., Fontaine J. (2005) Dynamic Stabilization of an Under-Actuated Robot Using Inertia of the Transfer Leg. In: Climbing and Walking Robots. Springer, Berlin, HeidelbergAuthor: A. David, O. Bruneau, J.G. Fontaine
http://folk.ntnu.no/skoge/prost/proceedings/ecc03/pdfs/312.pdf
NEARLY PASSIVE DYNAMIC WALKING OF A BIPED ROBOT ... sipated and support is transferred instantaneously. Be-cause the model has a torso then an impulsive torque must be applied against the post-transfer stance leg to hold the torso in a desired region[1]. Then we decide.
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