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A mechatronics approach to legged locomotion
Space Mechatronics Group, Aerospace Undergraduate Laboratories, University of Toronto Institute for Aerospace Studies.
Space Mechatronics Group, Aerospace Undergraduate Laboratories, University of Toronto Institute for Aerospace Studies.
2010 (English)In: 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Montreal, Canada, 6-9 July 2010, Piscataway, NJ: IEEE Communications Society, 2010, 824-829 p., 5695920Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a mechatronics methodology that allows the design of systems that are simple and intuitive to analyze and control. The primary application of this methodology is the design of a leg mechanism for a running robot. The approach first divides the system behaviour into several phases, and then finds Simple to Control Mechanisms (SCMs) that can achieve the desired performance in each phase. The mechanical element of the system is designed to emulate these SCMs. It is shown that simple controllers designed for the SCMs of the running robot leg can provide the desired system behaviour. © 2010 IEEE.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2010. 824-829 p., 5695920
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-38898DOI: 10.1109/AIM.2010.5695920Scopus ID: 79951656521Local ID: d73c87dd-e24e-4b7f-8747-ff62f7ca5038ISBN: 9781424480319 (print)OAI: oai:DiVA.org:ltu-38898DiVA: diva2:1012400
Conference
IEEE/ASME International Conference on Advanced Intelligent Mechatronics : 06/07/2010 - 09/07/2010
Note
Upprättat; 2010; 20141215 (ninhul)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-10-19Bibliographically approved

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CiteExportLink to record
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