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IROS
2007
IEEE
142views Robotics» more  IROS 2007»
14 years 5 months ago
Controlling walking behavior of passive dynamic walker utilizing passive joint compliance
Abstract— The passive dynamic walker (PDW) has a remarkable characteristic that it realizes cyclic locomotion without planning the joint trajectories. However, it cannot control ...
Takashi Takuma, Koh Hosoda
IROS
2008
IEEE
177views Robotics» more  IROS 2008»
14 years 6 months ago
3D bipedal robot with tunable leg compliance mechanism for multi-modal locomotion
— It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walki...
Takashi Takuma, Shinji Hayashi, Koh Hosoda