Passive trunk mechanism for controlling walking behavior of semi-passive walker

Oku, Hiroki; Asagi, Norimasa; Takenaka, Takashi; Masuda, Tatsuya

doi:10.1109/iros.2015.7353484

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Trunk Configuration2

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Cited by 6 publications

(2 citation statements)

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“…K d is fixed at 10.0 Nm/(rad/s). We developed a physical trunk mechanism in which the joint viscoelasticity changes [17]. In [17], a trunk is constructed using rigid blocks made of chemical wood and viscoelastic discs made of rubber.…”

Section: Trunk Configurationmentioning

confidence: 99%

See 1 more Smart Citation

Influence of trunk structure on posture transition from quadrupedalism to bipedalism

Takenaka

Kase

2017

Robomech J

Self Cite

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An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successful posture transition from quadrupedalism to bipedalism. The proposed trunk mechanism imitates the human trunk with redundant joints and elastic muscles supporting the trunk. The simulation results show that the proposed mechanism provides a successful and more rapid transition compared to the conventional rigid body.

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Section: Trunk Configurationmentioning

confidence: 99%

“…We developed a physical trunk mechanism in which the joint viscoelasticity changes [17]. In [17], a trunk is constructed using rigid blocks made of chemical wood and viscoelastic discs made of rubber. A string is passed through the blocks and discs, and the viscoelasticity switches by the changing tensional force of the string.…”

Section: Trunk Configurationmentioning

confidence: 99%