Gait Optimization of Biped Robot during Double Support Phase by Pure Dynamic Synthesis
نویسندگان
چکیده
منابع مشابه
Gait Optimization of Biped Robot during Double Support Phase by Pure Dynamic Synthesis
This paper deals with dynamic optimization of biped locomotion. The main focus of this research is motion optimization of double support phase. The optimization problem is dealt by using Pontryagins Maximum Principal. For motion optimization of double support phase, the closed kinematic chain has been considered to be opened at appropriate joint and the components of ground reaction forces has ...
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ژورنال
عنوان ژورنال: American Journal of Applied Sciences
سال: 2008
ISSN: 1546-9239
DOI: 10.3844/ajassp.2008.1175.1181