The Design and Realization of a Sensitive Walking Platform Public
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Caminante is a bipedal platform design to test sensitive walking. The robot was designed with all the characteristics that were deemed necessary in order to test successfully develop and test new control and wait generation systems that can be applied to all legged robots. A twelve degrees of freedom platform with series elastic actuators that mimics the major human leg joints was developed and constructed. The system uses cable driven SEA’s for compliance and force control. Two 36 tactile sensor arrays capable of measure shear and normal forces on the sole of the feet were developed to measure the forces generated by walking and develop better control schemes for the bipedal system.
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