Analysis and Control of Biped Locomotion Subject to Constraints
نویسندگان
چکیده
منابع مشابه
Biped Locomotion: Stability, Analysis and Control
In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...
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Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
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Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptable behaviors are required. Developing robust behaviors requires the development of methods for joint traject...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1983
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.1.3_191