Choosing Your Steps Carefully
Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may...
Gespeichert in:
| Veröffentlicht in: | IEEE robotics & automation magazine 2007-06, Vol.14 (2), p.18-29 |
|---|---|
| 1. Verfasser: | |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 29 |
|---|---|
| container_issue | 2 |
| container_start_page | 18 |
| container_title | IEEE robotics & automation magazine |
| container_volume | 14 |
| creator | Kuo, A.D. |
| description | Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may become preferable. But legged locomotion entails inertial and other energetic costs that do not appear in wheeled machines. The force and work requirements of legged locomotion also only appear energetically economical when considering the unique features of the human body and human muscle. The attainment of high economy in a legged robot requires either actuators similar to humans' or discontinuous nonlinear mechanisms that can reduce energetic losses to support a load. The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches. |
| doi_str_mv | 10.1109/MRA.2007.380653 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_journals_863857704</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>4264364</ieee_id><sourcerecordid>2332326121</sourcerecordid><originalsourceid>FETCH-LOGICAL-c265t-cd8df072318e873f9c7f7f609174401e791a0a430b0b9f7ea12ecc0068bf25373</originalsourceid><addsrcrecordid>eNpdkMtLAzEQxoMoWKtnDyIUQTxtO3ltkmNZ6gMqgg_QU0jTRLdsd2vSPfS_N8sWBWFgBuY3H998CJ1jGGMMavL4PB0TADGmEnJOD9AAcy4zQuj7YZpBQKYUJcfoJMYVAGaSygG6LL6aJpb15-ijacPoZes2cVSY4HxbVbtTdORNFd3Zvg_R2-3stbjP5k93D8V0nlmS821ml3LpQRCKpZOCemWFFz4HhQVjgJ1Q2IBhFBawUF44g4mzFiCXC084FXSIbnrdTWi-Wxe3el1G66rK1K5po5aCA8OUd-TVP3KVfNfJnJY5lVwIYAma9JANTYzpF70J5dqEncagu7B0Ckt3Yek-rHRxvZc10ZrKB1PbMv6dSalyzDrli54rnXO_a0ZyRlP9AEvLby4</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>863857704</pqid></control><display><type>article</type><title>Choosing Your Steps Carefully</title><source>IEEE Xplore</source><creator>Kuo, A.D.</creator><creatorcontrib>Kuo, A.D.</creatorcontrib><description>Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may become preferable. But legged locomotion entails inertial and other energetic costs that do not appear in wheeled machines. The force and work requirements of legged locomotion also only appear energetically economical when considering the unique features of the human body and human muscle. The attainment of high economy in a legged robot requires either actuators similar to humans' or discontinuous nonlinear mechanisms that can reduce energetic losses to support a load. The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches.</description><identifier>ISSN: 1070-9932</identifier><identifier>EISSN: 1558-223X</identifier><identifier>DOI: 10.1109/MRA.2007.380653</identifier><identifier>CODEN: IRAMEB</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Actuators ; Applied sciences ; Computer science; control theory; systems ; Control theory. Systems ; Economics ; Exact sciences and technology ; Fuel economy ; Human ; Human motion ; Leg ; Legged locomotion ; Locomotion ; Mobile robots ; Muscles ; Power generation economics ; Robot sensing systems ; Robotics ; Robotics and automation ; Robots ; Transportation ; Vehicle dynamics ; Versatility ; Wheels</subject><ispartof>IEEE robotics & automation magazine, 2007-06, Vol.14 (2), p.18-29</ispartof><rights>2008 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2007</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c265t-cd8df072318e873f9c7f7f609174401e791a0a430b0b9f7ea12ecc0068bf25373</citedby><cites>FETCH-LOGICAL-c265t-cd8df072318e873f9c7f7f609174401e791a0a430b0b9f7ea12ecc0068bf25373</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4264364$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4264364$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=18896144$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Kuo, A.D.</creatorcontrib><title>Choosing Your Steps Carefully</title><title>IEEE robotics & automation magazine</title><addtitle>MRA</addtitle><description>Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may become preferable. But legged locomotion entails inertial and other energetic costs that do not appear in wheeled machines. The force and work requirements of legged locomotion also only appear energetically economical when considering the unique features of the human body and human muscle. The attainment of high economy in a legged robot requires either actuators similar to humans' or discontinuous nonlinear mechanisms that can reduce energetic losses to support a load. The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches.</description><subject>Actuators</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Economics</subject><subject>Exact sciences and technology</subject><subject>Fuel economy</subject><subject>Human</subject><subject>Human motion</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Locomotion</subject><subject>Mobile robots</subject><subject>Muscles</subject><subject>Power generation economics</subject><subject>Robot sensing systems</subject><subject>Robotics</subject><subject>Robotics and automation</subject><subject>Robots</subject><subject>Transportation</subject><subject>Vehicle dynamics</subject><subject>Versatility</subject><subject>Wheels</subject><issn>1070-9932</issn><issn>1558-223X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2007</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkMtLAzEQxoMoWKtnDyIUQTxtO3ltkmNZ6gMqgg_QU0jTRLdsd2vSPfS_N8sWBWFgBuY3H998CJ1jGGMMavL4PB0TADGmEnJOD9AAcy4zQuj7YZpBQKYUJcfoJMYVAGaSygG6LL6aJpb15-ijacPoZes2cVSY4HxbVbtTdORNFd3Zvg_R2-3stbjP5k93D8V0nlmS821ml3LpQRCKpZOCemWFFz4HhQVjgJ1Q2IBhFBawUF44g4mzFiCXC084FXSIbnrdTWi-Wxe3el1G66rK1K5po5aCA8OUd-TVP3KVfNfJnJY5lVwIYAma9JANTYzpF70J5dqEncagu7B0Ckt3Yek-rHRxvZc10ZrKB1PbMv6dSalyzDrli54rnXO_a0ZyRlP9AEvLby4</recordid><startdate>20070601</startdate><enddate>20070601</enddate><creator>Kuo, A.D.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20070601</creationdate><title>Choosing Your Steps Carefully</title><author>Kuo, A.D.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c265t-cd8df072318e873f9c7f7f609174401e791a0a430b0b9f7ea12ecc0068bf25373</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Actuators</topic><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Economics</topic><topic>Exact sciences and technology</topic><topic>Fuel economy</topic><topic>Human</topic><topic>Human motion</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Locomotion</topic><topic>Mobile robots</topic><topic>Muscles</topic><topic>Power generation economics</topic><topic>Robot sensing systems</topic><topic>Robotics</topic><topic>Robotics and automation</topic><topic>Robots</topic><topic>Transportation</topic><topic>Vehicle dynamics</topic><topic>Versatility</topic><topic>Wheels</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kuo, A.D.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005–Present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998–Present</collection><collection>IEEE Xplore</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE robotics & automation magazine</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kuo, A.D.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Choosing Your Steps Carefully</atitle><jtitle>IEEE robotics & automation magazine</jtitle><stitle>MRA</stitle><date>2007-06-01</date><risdate>2007</risdate><volume>14</volume><issue>2</issue><spage>18</spage><epage>29</epage><pages>18-29</pages><issn>1070-9932</issn><eissn>1558-223X</eissn><coden>IRAMEB</coden><abstract>Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may become preferable. But legged locomotion entails inertial and other energetic costs that do not appear in wheeled machines. The force and work requirements of legged locomotion also only appear energetically economical when considering the unique features of the human body and human muscle. The attainment of high economy in a legged robot requires either actuators similar to humans' or discontinuous nonlinear mechanisms that can reduce energetic losses to support a load. The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/MRA.2007.380653</doi><tpages>12</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1070-9932 |
| ispartof | IEEE robotics & automation magazine, 2007-06, Vol.14 (2), p.18-29 |
| issn | 1070-9932 1558-223X |
| language | eng |
| recordid | cdi_proquest_journals_863857704 |
| source | IEEE Xplore |
| subjects | Actuators Applied sciences Computer science control theory systems Control theory. Systems Economics Exact sciences and technology Fuel economy Human Human motion Leg Legged locomotion Locomotion Mobile robots Muscles Power generation economics Robot sensing systems Robotics Robotics and automation Robots Transportation Vehicle dynamics Versatility Wheels |
| title | Choosing Your Steps Carefully |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-29T06%3A50%3A50IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Choosing%20Your%20Steps%20Carefully&rft.jtitle=IEEE%20robotics%20&%20automation%20magazine&rft.au=Kuo,%20A.D.&rft.date=2007-06-01&rft.volume=14&rft.issue=2&rft.spage=18&rft.epage=29&rft.pages=18-29&rft.issn=1070-9932&rft.eissn=1558-223X&rft.coden=IRAMEB&rft_id=info:doi/10.1109/MRA.2007.380653&rft_dat=%3Cproquest_RIE%3E2332326121%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=863857704&rft_id=info:pmid/&rft_ieee_id=4264364&rfr_iscdi=true |