Effect of gravity balancing on biped stability

被引：11

作者：

Agrawal, A ^{[1
]}

Agrawal, SK ^{[1
]}

机构：

[1] Univ Delaware, Dept Mech Engn, Mech Syst Lab, Newark, DE 19716 USA

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1308941

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Gravity balancing is often used in industrial machines to decrease the actuator efforts during motion. Through the use of rehabilitation devices one can also partially balance the leg during motion with the goal to reduce net joint torque during motion. However, it is not clear as to what are the effects of such devices on legged locomotion. This paper aims to study the effect of such gravity balancing devices on the motion of bipeds during walking.

引用

页码：4228 / 4233

页数：6