IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Study of the Relationship between a Mechanical Coupling Metric and Gait Characteristics for an Ankle-Actuated Biped Robot

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Author(s): Tan Chen ; James P. Schmiedeler ; Bill Goodwine
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2018
Conference Location: Singapore, Singapore, Singapore
Conference Date: 18 November 2018
Page(s): 1,180 - 1,185
ISBN (Electronic): 978-1-5386-9582-1
ISBN (USB): 978-1-5386-9581-4
DOI: 10.1109/ICARCV.2018.8581083
Regular:

This paper presents a study of the relationship between the magnitude of coupling between the actuated and unactuated degrees of freedom for an ankle-actuated biped robot and the robustness and... View More

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