The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 1P1-J15
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1P1-J15 Towards the realization of BiTreker, a powered passive bipedal walking machine for the saddle
Seiichi MIYAKOSHI
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Abstract
In this paper, a semi-autonomous bipedal vehicle based on passive dynamic walking (PDW) principles is proposed. PDW is known as a mechanical system, which is designed to walk down on a shallow slope without active control. To date, some bipedal walking robots have been developed to carry a person on uneven terrains. However, these robots are fully controlled and actuated, requiring considerable power for walking. Neither, they don't utilizes a PDW mechanism ; nor do they don't use the balancing capacity of a human as like a bicycle or motorbike. This paper describes the basic structure of the PDW based human balancing bipedal vehicle and the process of its developments.
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© 2008 The Japan Society of Mechanical Engineers
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