Analysis of Stability of Dynamic Biped Locomotion with High Gain Feedback
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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Biped locomotion has proven to be a very hard problem to solve. At current date, there exists no humanoid robot that can move as dynamic and robust as humans do. Even though there has been much research and certainly some interesting progress in biped locomotion, there is certainly no single solution that provides robots with the same capabilities as humans. What seems to be especially lacking ...
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در این پایان نامه رنگ آمیزی دینامیکی یک گراف را بیان و مطالعه می کنیم. یک –kرنگ آمیزی سره ی رأسی گراف g را رنگ آمیزی دینامیکی می نامند اگر در همسایه های هر رأس v?v(g) با درجه ی حداقل 2، حداقل 2 رنگ متفاوت ظاهر شوند. کوچکترین عدد صحیح k، به طوری که g دارای –kرنگ آمیزی دینامیکی باشد را عدد رنگی دینامیکی g می نامند و آنرا با نماد ?_2 (g) نمایش می دهند. مونت گمری حدس زده است که تمام گراف های منتظم ...
15 صفحه اولModel Predictive Control and Stability Analysis of a Standing Biped with Toe-Joint
In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...
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This paper concerns on footstep planning of a biped robot in an environment having some obstacles. Biped robot has an advantage to work in human surroundings: This is accomplished by its capability to walk over the obstacles. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between CoG trajecto...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1986
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.22.948