An Autonomous Biped - Concept and Design

Peter Jakubik

Abstract

This paper argues for a new approach in the mechanical design principle for the humanoid walkers. Applying linear electric direct drive motors the biped mechanism is able to behave as dynamically highly reactive walker admissible to exploiting its own natural dynamics. Based on this, a whole new concept of an anthropomorphic walker prototype is described including the interaction of the design and algorithmic aspects of the motion control.

References

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Paper Citation


in Harvard Style

Jakubik P. (2012). An Autonomous Biped - Concept and Design . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 167-176. DOI: 10.5220/0003979701670176


in Bibtex Style

@conference{icinco12,
author={Peter Jakubik},
title={An Autonomous Biped - Concept and Design},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={167-176},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003979701670176},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Autonomous Biped - Concept and Design
SN - 978-989-8565-22-8
AU - Jakubik P.
PY - 2012
SP - 167
EP - 176
DO - 10.5220/0003979701670176