Design and Control of a Miniature Bipedal Robot with Proprioceptive Actuation for Dynamic Behaviors
Yeting Liu,Junjie Shen,Jingwen Zhang,Xiaoguang Zhang,Taoyuanmin Zhu,Dennis Hong,Yeting Liu,Junjie Shen,Jingwen Zhang,Xiaoguang Zhang,Taoyuanmin Zhu,Dennis Hong
As the study of humanoid robots becomes a world-wide interdisciplinary research field, the demand for a cost-effective bipedal robot system capable of dynamic behaviors is growing exponentially. This paper presents a miniature bipedal robot named Bipedal Robot Unit with Compliance Enhanced (BRUCE). Each leg of BRUCE has five degrees of freedom (DoFs), which includes a spherical hip joint, a knee j...
