@inproceedings{ca3158df7b8a459b8d9a52a578d263a3,
title = "Walking pattern filter for dynamic biped robot with SMA actuators",
abstract = "In this paper we present a walking pattern filter for Shape Memory Alloy (SMA) actuated biped robots. SMAs are known for their slow response. The actuation speed limitation can potentially lead to stability problems for biped robots. This filter adapts the human motion for a SMA biped in order to have a stable walking pattern. The Zero Moment Point (ZMP) is used as a main criterion of the filter to guarantee the stability of the motion. The SMA actuators are designed based on the dynamic and kinematics data of the motion. The response time of each SMA actuator is modeled in order to estimate the behavior of the actuator in realizing the given trajectory. After applying the delay times to the motion new trajectories are generated and checked by the ZMP criterion. The output of the filter can generate smooth trajectories for the SMA biped robots. The filter furthermore guarantees the stability while mimicking the human motion. The filter provides a practical way to create stable walking patterns using SMA actuators.",
author = "Esfahani, \{E. Tarkesh\} and Mohammad Elahinia",
year = "2006",
doi = "10.1115/IMECE2006-15434",
language = "English",
isbn = "0791837904",
series = "American Society of Mechanical Engineers, Aerospace Division (Publication) AD",
publisher = "American Society of Mechanical Engineers (ASME)",
booktitle = "Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Aerospace Division",
address = "United States",
note = "2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 ; Conference date: 05-11-2006 Through 10-11-2006",
}