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Balanced Walking with Capture Steps Read chapter Read first chapter

2015 | OriginalPaper | Chapter

A Comparative Study and Development of a Passive Robot with Improved Stability

Authors : Hamid Reza Shafei, Soroush Sadeghnejad, Mohsen Bahrami, Jacky Baltes

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

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Abstract

Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated. This paper compares three popular models for passive dynamic walkers: Garcia’s mode, Wisse’s model, and our own extended Wisse’s model with arm. Our research shows that the extended models lead to more energy efficient and stable walking.

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previous chapter Analytical Solution for Joint Coupling in NAO Humanoid Hips
next chapter Object Motion Estimation Based on Hybrid Vision for Soccer Robots in 3D Space
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Metadata
Title
A Comparative Study and Development of a Passive Robot with Improved Stability
Authors
Hamid Reza Shafei
Soroush Sadeghnejad
Mohsen Bahrami
Jacky Baltes
Copyright Year
2015
Book
RoboCup 2014: Robot World Cup XVIII

Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18615-3_36

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