Research and Development Towards an Autonomous Biped Walking Robot
نویسندگان
چکیده
Abstract Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hardand software architecture for an autonomous biped, and experimental results are presented.
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تاریخ انتشار 2003