Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion

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Ke Wang
Aksat Shah
Petar Kormushev
Enviado: Nov 27, 2018
Publicado: Nov 26, 2018

Resumen

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.

Palabras clave

Bipedal Walking, Legged Robot Design, Gait Pattern Generation

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Cómo citar
Wang, K., Shah, A., & Kormushev, P. (2018). Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion. Memorias De Congresos UTP, 1(1), 109-116. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1883