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The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The small robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting small biped walking robot weighs a mere 2.8 g (with a height of 70 mm). Our experimental results demonstrate the viability and utility of the small walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.<\/jats:p>","DOI":"10.20965\/jrm.2008.p0793","type":"journal-article","created":{"date-parts":[[2016,4,14]],"date-time":"2016-04-14T02:18:46Z","timestamp":1460600326000},"page":"793-800","source":"Crossref","is-referenced-by-count":4,"title":["Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys"],"prefix":"10.20965","volume":"20","author":[{"given":"Mami","family":"Nishida","sequence":"first","affiliation":[]},{"name":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585 Japan","sequence":"first","affiliation":[]},{"given":"Hua O.","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Kazuo","family":"Tanaka","sequence":"additional","affiliation":[]},{"name":"Department of Aerospace and Mecanical Engineering, Boston University","sequence":"additional","affiliation":[]}],"member":"8550","published-online":{"date-parts":[[2008,10,20]]},"reference":[{"key":"key-10.20965\/jrm.2008.p0793-1","doi-asserted-by":"crossref","unstructured":"M. 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