Affiliation:
1. Villanova University, Villanova, Pennsylvania 19085, USA
Abstract
The moving torso plays an important role in the dynamics of bipeds like human beings, the exploitation of which is the essential focus of this paper. A design is presented where the torso is actuated to make the biped walk with the required step-length while allowing the legs to move passively. A periodic response excitation is achieved and the motion of the torso is optimized with respect to the external energy input. A working model of the biped is designed and built in which only the torso is actuated and the legs are passive. This laboratory model is used to test and validate the analytical solutions.
Publisher
World Scientific Pub Co Pte Lt
Subject
Artificial Intelligence,Mechanical Engineering