Note: Reconfigurable pelvis mechanism for efficient multi-locomotion: Biped and quadruped walking

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dc.contributor.authorYoon, Byunghoko
dc.contributor.authorKim, Soohyunko
dc.date.accessioned2018-02-21T05:09:38Z-
dc.date.available2018-02-21T05:09:38Z-
dc.date.created2017-12-29-
dc.date.created2017-12-29-
dc.date.issued2017-12-
dc.identifier.citationREVIEW OF SCIENTIFIC INSTRUMENTS, v.88, no.12-
dc.identifier.issn0034-6748-
dc.identifier.urihttp://hdl.handle.net/10203/239938-
dc.description.abstractA reconfigurable pelvis mechanism that can change its length for multi-locomotion robot is introduced. From the characteristics of animals that walk in a bipedal or quadrupedal manner, we found that the length of the pelvis for each type of locomotion is related to the efficiency and stability of walking. We demonstrated the effectiveness of this mechanism in biped and quadruped walking through comparison of accumulated power of consumption. We also examined the changes of the supporting polygon according to the length of the pelvis during quadruped walking in terms of stability.-
dc.languageEnglish-
dc.publisherAMER INST PHYSICS-
dc.titleNote: Reconfigurable pelvis mechanism for efficient multi-locomotion: Biped and quadruped walking-
dc.typeArticle-
dc.identifier.wosid000418956500077-
dc.identifier.scopusid2-s2.0-85038447528-
dc.type.rimsART-
dc.citation.volume88-
dc.citation.issue12-
dc.citation.publicationnameREVIEW OF SCIENTIFIC INSTRUMENTS-
dc.identifier.doi10.1063/1.4990544-
dc.contributor.localauthorKim, Soohyun-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
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ME-Journal Papers(저널논문)
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