2007
DOI: 10.1142/s0219843607001266
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Dynamically Balanced Ascending and Descending Gaits of a Two-Legged Robot

Abstract: The present paper deals with dynamically balanced ascending and descending gait generations of a 7 DOF biped robot negotiating a staircase. During navigation, the foot of the swing leg is assumed to follow a trajectory, after ensuring its kinematic constraints. Dynamic balance margin of the gaits are calculated by using the concept of zero-moment point (ZMP). In the present work, an approach different from the well-known semi-inverse method has been developed for trunk motion generation, in which it is initial… Show more

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Cited by 26 publications
(6 citation statements)
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“…The trunk motion is generated using the concept of static balance (Vundavilli et al 2007), which is different from the most popular semi-inverse method (Juricic & Vukobratovic 1972;Vukobratovic et al 1990) and verified for its dynamic balance after determining the position of ZMP. The mathematical expression for trunk motion, that is, θ 4 obtained from the concept of static balance is as follows:…”
Section: Ascending the Sloping Surfacementioning
confidence: 99%
See 3 more Smart Citations
“…The trunk motion is generated using the concept of static balance (Vundavilli et al 2007), which is different from the most popular semi-inverse method (Juricic & Vukobratovic 1972;Vukobratovic et al 1990) and verified for its dynamic balance after determining the position of ZMP. The mathematical expression for trunk motion, that is, θ 4 obtained from the concept of static balance is as follows:…”
Section: Ascending the Sloping Surfacementioning
confidence: 99%
“…where D ik , h ikm and C i represents inertia, Coriolis/centrifugal and gravity terms (Vundavilli et al 2007). Once the torque required at different joints are calculated, the amount of power consumed at those joints can be determined.…”
Section: 1cmentioning
confidence: 99%
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“…Trajectories of hip and ankle are built by inverted pendulum model verified on simulation [16]. Power consumption during walking up stairs needs more power than descending stairs [17]. The inverted pendulum model has been described in three dimensional with constraints the vertical motion by the shifting CoM [18].…”
Section: Introductionmentioning
confidence: 99%