BIP is an anthropomorphic walking robot designed for the study of both human and artificial bipedal locomotion. This paper presents an experimental approach to the problem of designing and executing a pattern of gaits on a dedicated 2-legged machine. The movements are designed off-line using a model of the robot and tracked on the real robot with a simple control law. The obtained experimental results validate the accuracy of the model and exhibit the efficiency of the developed controller architecture. A set of 8 walking gaits are analyzed and compared using biomechanical techniques and criteria.


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    Title :

    Experimental BIPedal Walking


    Contributors:


    Publication date :

    2003-06-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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