publication . Part of book or chapter of book . 2008

Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers

Matsushita, Kojiro; Yokoi, Hiroshi;
Open Access
  • Published: 01 Apr 2008
  • Publisher: I-Tech Education and Publishing
Abstract
Many legged robots have been developed, and some of them have already achieved dynamically stable bipedal and quadruped locomotion. Common characteristics of these conventional legged robots are that their motions are precisely manipulated by their control (i.e., gait and balance). In the case of ASIMO (Hirose et al., 2001) and HRP2 (Kaneko et al., 2004), their dynamically stable bipedal locomotion is based primarily on the Zero Moment Point (ZMP) concept, which was originally developed by Vukobratovic (Vukobratovic, 1969): the ZMP is a fictitious point on the ground plane, where the torques around the (horizontal) x and y axes (generated by ground reaction forc...
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