In this section
@article{Torricelli:2016:5/051002,
author = {Torricelli, D and Gonzalez, J and Weckx, M and Jiménez-Fabián, R and Vanderborght, B and Sartori, M and Dosen, S and Farina, D and Lefeber, D and Pons, JL},
doi = {5/051002},
journal = {Bioinspiration and Biomimetics},
title = {Human-like compliant locomotion: state of the art of robotic implementations},
url = {http://dx.doi.org/10.1088/1748-3190/11/5/051002},
volume = {11},
year = {2016}
}
TY - JOUR
AB - This 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.
AU - Torricelli,D
AU - Gonzalez,J
AU - Weckx,M
AU - Jiménez-Fabián,R
AU - Vanderborght,B
AU - Sartori,M
AU - Dosen,S
AU - Farina,D
AU - Lefeber,D
AU - Pons,JL
DO - 5/051002
PY - 2016///
SN - 1748-3182
TI - Human-like compliant locomotion: state of the art of robotic implementations
T2 - Bioinspiration and Biomimetics
UR - http://dx.doi.org/10.1088/1748-3190/11/5/051002
UR - http://hdl.handle.net/10044/1/44425
VL - 11
ER -