A Simple Algorithm for Generating Stable Biped Walking Patterns
نویسندگان
چکیده
منابع مشابه
A Simple Algorithm for Generating Stable Biped Walking Patterns
This paper proposes a thorough algorithm that can tune the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints. Two walking patterns of biped locomotion have...
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Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
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ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....
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ژورنال
عنوان ژورنال: International Journal of Computer Applications
سال: 2014
ISSN: 0975-8887
DOI: 10.5120/17676-8510