| Autor: |
Jeffrey Yu, Dennis Hong, Sepehr Ghassemi, Joshua Hooks |
| Rok vydání: |
2017 |
| Předmět: |
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| Zdroj: |
Volume 5B: 41st Mechanisms and Robotics Conference. |
| DOI: |
10.1115/detc2017-68051 |
| Popis: |
This paper presents our findings in exploring various approaches for turning on a novel prototype biped which takes inspiration from humanoids, but features fundamental differences that increase its stability while reducing its cost and complexity. This non-anthropomorphic robotic system modifies the traditional humanoid form by aligning the legs in the sagittal plane and adding a compliant element to the feet. As this approach to locomotion is relatively new, turning methods have yet to be explored. Turning on this unique platform is a nontrivial problem that we examined by adding additional DoF in the forms of arms or hip actuators. The turning strategies tested include using the hand or foot as a pivot point, utilizing the arms like a tail or reaction wheel, and adding another DoF to each leg. The methods were tested quantitatively to assess their rotational accuracy and qualitatively to evaluate their viability in certain situations. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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