Swing leg kinematics for the bipedal walking robots

dc.contributor.author	Abeyratne, MGAP
dc.contributor.author	Welihinda, SM
dc.contributor.author	Udawatta, L
dc.contributor.author	Karunadasa, JP
dc.date.accessioned	2013-10-21T02:12:59Z
dc.date.available	2013-10-21T02:12:59Z
dc.date.issued	2009
dc.identifier.uri	http://dl.lib.mrt.ac.lk/handle/123/8293
dc.description.abstract	In this paper we demonstrate how the Robotic Technology theories are applied to solve the real world problem in bipedal walking of robots. Since there has been an increasing interest in bipedal locomotion, the modeling of swing leg is much important. The rhythm of the bipedal walking mainly depends on swing leg kinematics and condition of the walking path. Nowadays, the most interesting robot locomotion is ramp walking. In this paper we derived kinematics only for upward walking. The kinematics for downward walking could be derived effortlessly utilizing the same approach with some modifications.
dc.language	en
dc.title	Swing leg kinematics for the bipedal walking robots
dc.type	Conference-Extended-Abstract
dc.identifier.year	2009
dc.identifier.conference	Research for Industry
dc.identifier.place	Faculty of Engineering, University of Moratuwa
dc.identifier.pgnos	pp. 99-100
dc.identifier.proceeding	15th Annual symposium on Research and Industry