제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Passive Dynamic Walking : Design of Internal Parameters

  • Sung, Sang-Hak (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical engineering, Pohang University of Science & Technology(POSTECH)) ;
  • Youngil Youm (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical engineering, Pohang University of Science & Technology(POSTECH)) ;
  • Chung, Wan-Kyun (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical engineering, Pohang University of Science & Technology(POSTECH))
  • Published : 2000.10.01
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Abstract

This paper presents the design of a passive biped walking robot based on limit cycle analysis. By using numerical analysis and experiment, we identify better design criterion for biped walking robot. In designing robot parameters we apply global search method to find limit cycles for given robot parameters and ground angle. Internal parameter variation changes limit cycle behavior, total energy, strides, etc and the characteristics of walking is analyzed by simulation and experiments.

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