2013
DOI: 10.1017/s0263574713001124
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Abstract: Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficu… Show more

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Cited by 32 publications
(23 citation statements)
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“…This section will describe two selected case used for dealing with (2). Moreover, the dynamic modeling, the constraints and the optimal trajectory planning of 7-link biped robot during complete gait cycle will be introduced.…”
Section: Methodsmentioning
confidence: 99%
See 1 more Smart Citation
“…This section will describe two selected case used for dealing with (2). Moreover, the dynamic modeling, the constraints and the optimal trajectory planning of 7-link biped robot during complete gait cycle will be introduced.…”
Section: Methodsmentioning
confidence: 99%
“…Numerous approaches have been used to generate the motion of the biped robot as detailed in [2]. However, there are two efficient methods used for this purpose: center of gravity (COG)-based gait and the optimization-based gait.…”
Section: Introductionmentioning
confidence: 99%
“…Robot kinematics is fully expressed by Eqs. (4) to (7). But, the system still has 8 degrees of redundancy.…”
Section: Derivation Of the Kinematic Equationsmentioning
confidence: 99%
“…During the past few years, there has been a large research attempt in improving the design of humanoid biped robots and produce setups with motion capabilities inspired by the smoothness, accuracy and compliance that characterize the human lower-limb motion [1][2][3]. To that goal, the use of inherently compliant materials in structures and actuators, characterized by flexibility and biomimetic attributes, has been an increasing interest of researchers and manufacturers.…”
Section: Introductionmentioning
confidence: 99%