Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations
نویسندگان
چکیده
منابع مشابه
Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations
The aim of this paper is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion; they could be fully actuated during the single support phase (SSP) and over-actuated during the double supp...
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The development of an algorithm to achieve optimal cyclic gaits in space for a thirteen-link biped and twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as spline functions. The parameters to define the spline funct...
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ژورنال
عنوان ژورنال: International Journal of Computer Applications
سال: 2014
ISSN: 0975-8887
DOI: 10.5120/17664-8485