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An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons

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dc.contributor.author Jamisola, Rodrigo S.
dc.contributor.author Roberts, Rodney G.
dc.date.accessioned 2021-09-21T15:08:42Z
dc.date.available 2021-09-21T15:08:42Z
dc.date.issued 2021-08-16
dc.identifier.citation Jamisola, R. and Roberts, R. (2021). An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons. Robotica, 1-15. doi:10.1017/S0263574721001090 en_US
dc.identifier.issn 1469-8668
dc.identifier.uri http://repository.biust.ac.bw/handle/123456789/349
dc.description.abstract We present a method to drastically reduce the required number of degrees-of-freedom (DOFs) needed for walking for each leg of bipedal robots and lower-limb exoskeletons. This approach releases more legs DOFs in the null space to do other tasks, instead of unnecessarily constraining them. It uses relative reference frames to control relative motion between the two feet, instead of the usual method of controlling foot movement with respect to fixed reference frames. In its basic form, it controls the bipedal walking holistically using two controllers: (1) world space control using relative feet motion and (2) null-space control of the legs posture. en_US
dc.language.iso en en_US
dc.publisher Cambridge University Press en_US
dc.subject Bipedal robots and lower-limb exoskeletons en_US
dc.subject Legs degrees-of-freedom en_US
dc.subject Relative reference frame en_US
dc.subject Null-space control en_US
dc.subject Modular relative Jacobian en_US
dc.subject Gazebo simulation en_US
dc.title An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons en_US
dc.description.level phd en_US
dc.description.accessibility unrestricted en_US
dc.description.department mie en_US


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