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

  title={Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running},
  author={Christine Chevallereau and Philippe Sardain},
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
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