Core-centered Actuation for Biped Locomotion of Humanoid Robots
Caleb Fuller,Umer Huzaifa,Amy LaViers,Joshua Schultz,Caleb Fuller,Umer Huzaifa,Amy LaViers,Joshua Schultz
In this paper we examine a novel method of core-located actuation that we believe can be used to vary gaits in a compass-gait walker, using critical analysis of a ball-in-tray mechanism to apply forces at the robot's "pelvis". The dynamic equations of motion of a tilting ball-tray system with several design parameters are developed and simulated for various tray designs. Results show that changes ...
