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Modeling, stability and walking pattern generators of biped robots: a review

Published online by Cambridge University Press:  05 December 2013

Hayder F. N. Al-Shuka,
F. Allmendinger,
B. Corves and
Wen-Hong Zhu
Hayder F. N. Al-Shuka*
Affiliation:
Department of Mechanism and Machine Dynamics, RWTH Aachen University, Aachen, Germany
F. Allmendinger
Affiliation:
Department of Mechanism and Machine Dynamics, RWTH Aachen University, Aachen, Germany
B. Corves
Affiliation:
Department of Mechanism and Machine Dynamics, RWTH Aachen University, Aachen, Germany
Wen-Hong Zhu
Affiliation:
Canadian Space Agency, 6767, Route de l'Aéroport, Longueuil (St-Hubert), QC, Canada, J3Y 8Y9
*
*Corresponding author. Email: al-shuka@igm.rwth-aachen.de
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Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.

Keywords

Biped robotStabilityZero moment pointOrbital stabilityWalking pattern generators

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014, pp. 907 - 934
Copyright
Copyright © Cambridge University Press 2013 

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