Multi-Model Stability Control Method of Underactuated Biped Robots Based on Imbalance Degrees
نویسندگان
چکیده
منابع مشابه
Multi-model Stability Control Method of Underactuated Biped Robots Based on Imbalance Degrees
In this paper, a stability control strategy for underactuated biped robots is proposed based on imbalance degree. The dynamic models of single-leg support of underactuated biped robots are firstly illustrated. Based on the external disturbance force strength of the system, the motion process of an underactuated biped robot is partitioned into three stages according to the imbalance degree. In d...
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ژورنال
عنوان ژورنال: International Journal of Simulation Modelling
سال: 2015
ISSN: 1726-4529
DOI: 10.2507/ijsimm14(4)7.318