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Novel Control Algorithm for the Foot Placement of a Walking Bipedal Robot : Nuovo algoritmo di controllo per il posizionamento del piede di un robot bipedo, in: International Journal of Advanced Robotic Systems
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Allgemeine Angaben
Autor Liu, Wanli; Zhankui, Wang; Guo, Meng
Erschienen  InTech Open Access Publisher, 2013
Ausgabe  
Umfang  
ISBN
Kurzbeschreibung A novel control algorithm for the foot placement
of walking bipedal robots is proposed which can output
the optimal step time and step location to obtain a desired
walking gait from every feasible robot state. The step time
and step location are determined by approximating the
robot dynamics with the 3D linear inverted pendulum
model and analytically solving the constraint equations.
Intensive simulation studies are conducted to check the
validity of the theoretical results. The results of this study
show that the proposed control algorithm can get the
system to a desired gait cycle from every feasible state
within a finite number of steps.
Sammlungen
Zeitschriftenartikel
ab 2000
Übergeordnete Werke
 
no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31036009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31036009.html
PDF FaviconPDF  Novel Control Algorithm for the Foot Placement of a Walking Bipedal Robot
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Verwaltungsinformationen
Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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