Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running

@inproceedings{Chevallereau2000DesignAA,
  title={Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running},
  author={Christine Chevallereau and Philippe Sardain},
  booktitle={ICRA},
  year={2000}
}
Several french laboratories, joint in the CNRS Project "Control of Legged Robots'', have defmed a biped robot intented to experiment walking and running gaits. This biped is made of one trunk and two legs without feet, animated by means of four active articulations. This paper describes the design of the prototype, closely combining technological considerations and dynamics ones. The geometrical parameters and actuation characteristics are defined with the aim of generating walking and running… CONTINUE READING
Highly Cited
This paper has 58 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 33 extracted citations

58 Citations

0510'01'04'08'12'16
Citations per Year
Semantic Scholar estimates that this publication has 58 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-7 of 7 references

Optimal running trajectories for a biped ”

  • Y. Aoustin C. Chevallereau
  • CLAWAR
  • 1999

A Simulator for Biped Robot with a Continuous Contact Model

  • G. Beurier, L. Roussel, B. Perrin
  • IFAC Int. Workshop on Motion Control, Grenoble…
  • 1998

Studies of Locomotion Via Optimal Programming

  • D. H. Jacobson
  • Studies of Human Locomotion via Optimal…
  • 1992

Parametric Optimization of Motions of a Bipedal Walking Robot

  • V. E. Berbyuk, V. A. Samsonov
  • Adjusting Step Lenght for Rough Terrain…
  • 1991

Formal ’ sky “ Optimal Walking Trajectories for a Biped ”

  • A. C. Chevallereau Y. Aoustin
  • 1982

Near Optimal Gait for a Biped Robot

  • N. Chaillet
  • Izv . An SSSR . Mekhanika Tverdogo Tela…
  • 1982

Similar Papers

Loading similar papers…