Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion
This paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the momen...
| Autores Principales: | Wang, Ke, Shah, Aksat, Kormushev, Petar |
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| Formato: | Artículo |
| Idioma: | Español |
| Publicado: |
Universidad Tecnológica de Panamá
2018
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| Acceso en línea: |
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1883 http://ridda2.utp.ac.pa/handle/123456789/5671 |
| Sumario: |
This paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the moment of inertia of the leg rotation. SLIDER's ultra-lightweight legs make it suitable for agile locomotion. To test the design, we created a dynamic model of SLIDER in Gazebo and implemented a two-stage walking pattern generator, achieving a walking speed of 0.18 m/s in simulation. A physical prototype of SLIDER is currently under construction for real-world testing. |
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