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Keywords: legged locomotion
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Journal Articles
Article Type: Design Innovations
J. Mech. Des. December 2009, 131(12): 125001.
Published Online: November 9, 2009
... that further improves the position control by allowing series-elasticity in only one rotational direction. 11 12 2008 09 09 2009 09 11 2009 09 11 2009 control system synthesis elasticity electric actuators legged locomotion motion control position control springs (mechanical...
Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081005.
Published Online: July 20, 2009
... are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues. 21 07 2008 07 05 2009 20 07 2009 control system synthesis legged locomotion manipulator dynamics manipulator...
Journal Articles
Article Type: Research Papers
J. Mech. Des. March 2009, 131(3): 031010.
Published Online: March 9, 2009
... to realize planar movements. Kinematic analysis, gait planning, and stability analysis are performed, and a prototype is developed and tested. 06 07 2008 04 01 2009 09 03 2009 legged locomotion mechanical stability robot kinematics four-link RCCR mechanism biped mechanism...
Journal Articles
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102302.
Published Online: August 21, 2008
... feedback. 26 06 2007 16 06 2008 21 08 2008 design engineering gait analysis legged locomotion 1 Over the past 30 years , many biped robots have been constructed with varying levels of design complexity. As an example of the highly complex, consider Honda’s...
Journal Articles
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102301.
Published Online: August 21, 2008
... 20 06 2007 29 05 2008 21 08 2008 design engineering legged locomotion manipulators optimisation cable-driven parallel mechanism design optimization locomotion interface Cable-driven parallel mechanisms have the possibility to overcome several drawbacks...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. August 2007, 129(8): 887–890.
Published Online: August 21, 2006
... condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. 16 02 2006 21 08 2006 legged locomotion robot dynamics design agility dynamic performance acceleration...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. May 2006, 128(3): 649–653.
Published Online: July 21, 2005
... stable walking patterns, can be obtained. 28 05 2004 21 07 2005 legged locomotion robot dynamics stability The walking of bipeds is the result of one of the most complex motor coordination patterns among all robotic systems. Walking patterns ensure stability of biped during...
Journal Articles
Article Type: Research Papers
J. Mech. Des. May 2006, 128(3): 566–573.
Published Online: June 24, 2005
... and acting on the origin O are 4 F ¯ O = { 0.0 , 0.1 , − 8.0 } , M ¯ O = { 2.0 , 0.1 , 0.0 } This example system is represented in Fig. 1 with the friction cones shown at each contact point. legged locomotion mechanical contact friction multi...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 295–302.
Published Online: June 24, 2005
... by Gecko Foot-Hairs ,” IEEE International Conference on Robotics and Biomimetics (ROBIO) , Shenyang, China. 28 06 2004 24 06 2005 mechanical contact legged locomotion friction This paper addresses the determination, representation, and visualization of the contact force...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 264–271.
Published Online: January 17, 2005
... legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel Mechanisms Parallel Structure This paper is a combined version of two papers (DETC2004-57036 and DETC2004-57037) presented at the ASME 2004 Design Engineering Technical Conferences...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 830–841.
Published Online: October 28, 2004
... . Manuscript received Aug. 2003; rev. Jan. 2004. Associate Editor: G. R. Pennock. 01 Aug 2003 01 Jan 2004 28 10 2004 robot dynamics virtual reality legged locomotion gait analysis modelling Development of walking legged robots constitutes a big challenge for the robotics...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. June 2003, 125(2): 281–291.
Published Online: June 11, 2003
... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received August 2001; revised September 2002. Associate Editor: G. S. Chirikjian. 01 August 2001 01 September 2002 11 06 2003 legged locomotion robot kinematics motion control actuators Miniature...