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

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.
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APA

S., J (2024). An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons. Afribary. Retrieved from https://afribary.com/works/an-approach-to-drastically-reduce-the-required-legs-dofs-for-bipedal-robots-and-lower-limb-exoskeletons

MLA 8th

S., Jamisola "An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons" Afribary. Afribary, 30 Mar. 2024, https://afribary.com/works/an-approach-to-drastically-reduce-the-required-legs-dofs-for-bipedal-robots-and-lower-limb-exoskeletons. Accessed 28 May. 2024.

MLA7

S., Jamisola . "An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons". Afribary, Afribary, 30 Mar. 2024. Web. 28 May. 2024. < https://afribary.com/works/an-approach-to-drastically-reduce-the-required-legs-dofs-for-bipedal-robots-and-lower-limb-exoskeletons >.

Chicago

S., Jamisola . "An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons" Afribary (2024). Accessed May 28, 2024. https://afribary.com/works/an-approach-to-drastically-reduce-the-required-legs-dofs-for-bipedal-robots-and-lower-limb-exoskeletons