Note: Reconfigurable pelvis mechanism for efficient multi-locomotion: Biped and quadruped walking

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A reconfigurable pelvis mechanism that can change its length for multi-locomotion robot is introduced. From the characteristics of animals that walk in a bipedal or quadrupedal manner, we found that the length of the pelvis for each type of locomotion is related to the efficiency and stability of walking. We demonstrated the effectiveness of this mechanism in biped and quadruped walking through comparison of accumulated power of consumption. We also examined the changes of the supporting polygon according to the length of the pelvis during quadruped walking in terms of stability.
Publisher
AMER INST PHYSICS
Issue Date
2017-12
Language
English
Article Type
Article
Citation

REVIEW OF SCIENTIFIC INSTRUMENTS, v.88, no.12

ISSN
0034-6748
DOI
10.1063/1.4990544
URI
http://hdl.handle.net/10203/239938
Appears in Collection
ME-Journal Papers(저널논문)
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