Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion
- Authors
- Wang, Ke; Shah, Aksat; Kormushev, Petar
- Format
- Article
- Status
- publishedVersion
- Description
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.
- Publication Year
- 2018
- Language
- spa
- Topic
- Bipedal Walking; Legged Robot Design; Gait Pattern Generation
- Repository
- RI de Documento Digitales de Acceso Abierto de la UTP
- Get full text
- http://revistas.utp.ac.pa/index.php/memoutp/article/view/1883
http://ridda2.utp.ac.pa/handle/123456789/5671
- Rights
- openAccess
- License
- https://creativecommons.org/licenses/by-nc-sa/4.0/