Feet compliance in two legged locomotion

Magdalena Żurawska , Teresa Zielińska


Abstract The concept of compliant robotic foot is proposed and the method of postural equilibration analysis of two-legged robot with compliant feet is proposed. Trajectories of foot reaction force are obtained. Those trajectories are crucial for postural stability evaluation. Presented results are useful for robot motion synthesis and for a compliant feet design. Presented method was tested using simulations, results will be applied in the real robot
Author Magdalena Żurawska (FPAE / IAAM)
Magdalena Żurawska,,
- The Institute of Aeronautics and Applied Mechanics
, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Publication size in sheets0.5
Book Flores Paulo, Viadero Fernando (eds.): New Trends in Mechanism and Machine Science, 2013, Springer, ISBN 978-3-319-09410-6
Keywords in EnglishBiomimetic robots; Bipeds; Control of robotic systems; Dynamic walking, Compliant feet, Legged robots
URL http://dx.doi.org/10.1007/978-3-319-09411-3_63
Languageen angielski
Score (nominal)0
ScoreMinisterial score = 0.0, 06-07-2020, MonographChapterAuthor
Publication indicators WoS Citations = 0; Scopus Citations = 1
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