Abstract
Progress in the development of a walking robotic biped depends on an understanding of the process of achieving and maintaining balance. Based upon the inverted pendulum model, Raibert has built a hopping monoped able to remain upright [1]. More recently, Furusho and Masubuchi built a bipedal walking machine [2] able to demonstrate a true walking gait. However, as with Raibert’s hopping machine, the motion of the machine is constrained to the sagittal plane. No one has yet demonstrated a biped able to maintain balance in three dimensions.
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References
Raibert, M. H., et al, Dgnamicallg Stable Legged Locomotion. Progress Report: October 1982-Óctober 1983, Leg Laboratory, The Robotics Institution and Department of Computer Science, Carnegie-Mellon University, Pittsburgh, Pennsylvania, December 1983.
Furusho, J., and Masabuchi, M., “Control of a Dynamical Biped Locomotion System for Steady Walking”, Journal of Dynamic Systems, Measurement, and Control, vol. 108, 1986, pp. 111–118.
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© 1988 Springer-Verlag New York Inc.
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Shaw, J.B., Hsu, M., Mulder, M., Wagner, N., Kerth, N.L. (1988). Bipedal Balancing: A New Approach. In: Radharamanan, R. (eds) Robotics and Factories of the Future ’87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-73890-6_79
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DOI: https://doi.org/10.1007/978-3-642-73890-6_79
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