By Habib

Nature has consistently been a resource of thought and concepts for the roboticscommunity. New suggestions and applied sciences are required and for that reason this booklet is popping out to deal with and take care of the most demanding situations dealing with jogging and mountain climbing robots, and contributes with cutting edge ideas, designs, applied sciences and strategies. This ebook studies at the cutting-edge learn and developmentfindings and effects. The content material of the booklet has been established into five technical learn sections with overall of 30 chapters written via good famous researchers world wide.

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Also the feet area was enlarged to 300x185mm2 to ensure a stable gait at all frequencies. a, and its oscillation frequency varies from 0 to 0,5Hz in 150 seconds. b. 5 b) 0 Mechanical energy (Nmrad) a) Angular position (rad) Locomotion of an Underactuated Biped Robot Using a Tail 5 0 50 0 150 100 Time (s) Figure 18. 38Hz. 42Hz), the gait losses its periodic behaviour partially. Finally, figure 19 shows both ZMP components versus time. We can see the effect of collisions with the feet and the ground, and in the Z component case, how its amplitude grows with frequency.

2 Figure 14. 2rad/s at the contact instant. c shows the phase diagram of the right leg during the eight strides between instants t=20s and t=100s, so we can evaluate the periodicity of the gait. We can also identify in this figure the double support phases (they have the same shape), and when the leg is the stance leg and the swing leg. Now we analyze the body inclination velocity and the contact with the ground. Figure 15 shows this velocity and the normal component of the ground reaction force FTY.

Zheng, Y. & Wilcox, B. (2006). Humanoids, International Assessment of Research and Development in Robotics, World Technology Evaluation Center, Inc, pp. 41-54, 2006. Berenguer, F. J. & Monasterio-Huelin, F. (2006). Easy design and construction of a biped walking mechanism with low power consumption, Proceedings of the 9th Int. Conf. on Climbing and Walking Robots, pp. 96-103, Brussels, September 2006. Berenguer, F. J. & Monasterio-Huelin, F. (2007). Trajectory planning using oscillatory chirp functions applied to bipedal locomotion, Proceedings of the 4th Int.

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