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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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Autor Liu, Wanli; Zhankui, Wang; Guo, Meng
Publicat  InTech Open Access Publisher, 2013
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Abstract 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.
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2000 şi ulterior
Superordinate work
 
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, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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