Biped standing, individuality and self-dependence
نویسندگان
چکیده
منابع مشابه
Model 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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متن کاملmodel 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 present a self-excited walking of a fourlink biped mechanism which possesses an actuated hip joint and passive knee joints. First we manifested that this self-excitation control enables 3-DOF planar biped model to walk on a level ground, by numerical simulation. Next we showed experimental study of a manufactured planar biped walking robot. We demonstrated that stable walking can be ...
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ژورنال
عنوان ژورنال: Biological Sciences in Space
سال: 2008
ISSN: 1349-967X,0914-9201
DOI: 10.2187/bss.22.172