Please use this identifier to cite or link to this item:
logo share SHARE logo core CORE BASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE

Human-like compliant locomotion: State of the art of robotic implementations

AuthorsTorricelli, D.; Gonzalez, J.; Weckx, M.; Jiménez-Fabián, R.; Vanderborght, B.; Sartori, M.; Dosen, S.; Farina, D.; Lefeber, D.; Pons Rovira, José Luis CSIC ORCID
Keywordshuman bipedal walking
robotic platforms
Issue Date22-Aug-2016
PublisherInstitute of Physics Publishing
CitationBioinspiration and Biomimetics 11(5): 051002 (2016)
AbstractThis review paper provides a synthetic yet critical overview of the key biomechanical principles of human bipedal walking and their current implementation in robotic platforms. We describe the functional role of human joints, addressing in particular the relevance of the compliant properties of the different degrees of freedom throughout the gait cycle. We focused on three basic functional units involved in locomotion, i.e. the ankle-foot complex, the knee, and the hip-pelvis complex, and their relevance to whole-body performance. We present an extensive review of the current implementations of these mechanisms into robotic platforms, discussing their potentialities and limitations from the functional and energetic perspectives. We specifically targeted humanoid robots, but also revised evidence from the field of lower-limb prosthetics, which presents innovative solutions still unexploited in the current humanoids. Finally, we identified the main critical aspects of the process of translating human principles into actual machines, providing a number of relevant challenges that should be addressed in future research.
Publisher version (URL)
Identifiersissn: 1748-3190
Appears in Collections:(IC) Artículos

Files in This Item:
File Description SizeFormat
Torricelli_2016_Bioinsp.3,37 MBAdobe PDFThumbnail
Show full item record
Review this work

Google ScholarTM




WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.