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- W2158847979 abstract "To realize energy-efficient running of flat-footed biped robots, we propose novel running based on flat-footed passive dynamic walking with mechanical impedance at ankles. In recent years, ZMP-based running is popular as one of the running of humanoid robots. However, ZMP-based locomotion of the biped robots are not energy-efficient, and they require complicated trajectory planning and feedback control. Flat-footed passive dynamic walkers with mechanical impedance at ankles have been proposed as a biped robot achieving energy-efficient walking. Since they achieve energy-efficient walking without any control, we are interested in locomotion based on this passive walking. Therefore, we expect that flat-footed biped robots achieve energy-efficient running by taking advantage of the dynamics of the passive dynamic walker. In this paper, we show that the proposed method for a flat-footed biped robot achieves energy-efficient and high-speed limit cycle running." @default.
- W2158847979 created "2016-06-24" @default.
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- W2158847979 date "2012-07-01" @default.
- W2158847979 modified "2023-09-26" @default.
- W2158847979 title "Limit cycle running based on flat-footed passive dynamic walking with mechanical impedance at ankles" @default.
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- W2158847979 doi "https://doi.org/10.1109/aim.2012.6265998" @default.
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