IEEE - Institute of Electrical and Electronics Engineers, Inc. - Joint space legs trajectory planning for optimal hip-mass carry walk of 4-DOF parallelogram bipedal robot

2010 IEEE International Conference on Mechatronics and Automation (ICMA)

Author(s): Mir-Nasiri, N. ; Jo, H.S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2010
Conference Location: Xi'an, China, China
Conference Date: 4 August 2010
Page(s): 616 - 621
ISBN (CD): 978-1-4244-5141-8
ISBN (Paper): 978-1-4244-5140-1
ISSN (CD): 2152-7431
ISSN (Electronic): 2152-744X
ISSN (Paper): 2152-7431
DOI: 10.1109/ICMA.2010.5587935
Regular:

This paper presents joint space trajectory planning strategy for the legs of 4-DOF parallelogram bipedal robot. The use of two sets of pulley-based parallelogram mechanisms in each leg allows to... View More

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