Design of a robust self-excited biped walking mechanism

@inproceedings{Sangwan2004DesignOA,
  title={Design of a robust self-excited biped walking mechanism},
  author={Vivek Sangwan and A. Taneja and Subrata Kumar Mukherjee},
  year={2004}
}
A self-excited biped walking mechanism consisting of two legs that are connected in a series at the hip joint through a servomotor is studied to determine range of stability. A torque proportional to angle between the shank and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting the forward motion like the human knee. While a torque proportional to the angle between the shank and the vertical stabilises… CONTINUE READING
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