General description of the walking machine project
Name of the walking machine/project: BIPMAN Begin and end of the Project: 1996-2000 Project costs: 110KEuros Building effort [person years]: 3 man-years Source of financial support: Research group "Complex biomechanical Systems" Staff of the project: Main permanent staff: P. Gorce and M. Guihard, others researchers 2 Phd students and trainees Information via www: Contact address: P.Gorce and M. Guihard,U483 INSERM 9 av. de la Division Leclerc, 94234 Cachan, France Tel:++33 01 41 24 11 89, Email: philippe.gorce@iut-cachan.u-psud.fr Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 0.3m Max. speed Number of legs 2 Energy supply pneumatic at 8 bars Hight 1.1m Weight 15kg Act. degrees of freedom 14 Power supply Width 0.5m Load Pas. degrees of freedom 0 Power consumption References Publications 1/ P. Gorce, O. Vanel, "Behaviour synthesis of the erect stance for a biped control", Journal of Intelligent and Robotic Systems, JINT, Kluwer Academic Publishers, Vol.18, n°2, 1997, p.127-145, 2/ O. Vanel, P. Gorce, "A new approach to dynamic posture control", Robotica, Cambridge University Press, Vol.15, 1997 p.449-459, 3/ P. Gorce, M. Guihard, "On dynamic control of pneumatic bipeds", Journal of Robotic Systems, John Wiley & Sons Publishers, Vol. 15, n° 7, 1998, p. 421-433, 4/ P. Gorce, M. Guihard, "Joint impedance pneumatic control for multichains systems". Transaction ASME Journal of Dynamic Systems, Measurement and control, Vol. 121, n°2, juin 1999, p. 293-297, 5/ F. El Hafi, P. Gorce , "Behavioural approach for a bipedal robot stepping motion gait", Robotica, Cambridge University Press, Vol.17, n°5,1999, p.491- back to main page of walking machines catalogue %
Research group
"Complex biomechanical Systems"
Staff of the project:
Main permanent staff: P. Gorce and M. Guihard, others researchers 2 Phd students and trainees
Information via www:
Contact address:
P.Gorce and M. Guihard,U483 INSERM 9 av. de la Division Leclerc, 94234 Cachan, France Tel:++33 01 41 24 11 89, Email: philippe.gorce@iut-cachan.u-psud.fr
Technical data of the walking machine
References
Publications
1/ P. Gorce, O. Vanel, "Behaviour synthesis of the erect stance for a biped control", Journal of Intelligent and Robotic Systems, JINT, Kluwer Academic Publishers, Vol.18, n°2, 1997, p.127-145,
2/ O. Vanel, P. Gorce, "A new approach to dynamic posture control", Robotica, Cambridge University Press, Vol.15, 1997 p.449-459,
3/ P. Gorce, M. Guihard, "On dynamic control of pneumatic bipeds", Journal of Robotic Systems, John Wiley & Sons Publishers, Vol. 15, n° 7, 1998, p. 421-433,
4/ P. Gorce, M. Guihard, "Joint impedance pneumatic control for multichains systems". Transaction ASME Journal of Dynamic Systems, Measurement and control, Vol. 121, n°2, juin 1999, p. 293-297,
5/ F. El Hafi, P. Gorce , "Behavioural approach for a bipedal robot stepping motion gait", Robotica, Cambridge University Press, Vol.17, n°5,1999, p.491-
back to main page of walking machines catalogue
%
