Rigid vs compliant contact: an experimental study on biped walking
نویسندگان
چکیده
منابع مشابه
Rigid vs compliant contact: An experimental study on biped walking
In this paper, the main goal is to present an experimental comparison of the two prevailing contact modeling approaches of the bipedal locomotion, i. e. rigid versus compliant contact model. To do this, first, an explicit dynamics model for the robot multibody with rigid model of contact for various phases of walking is developed. Then, in order to develop a model with compliant contact, a phys...
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ژورنال
عنوان ژورنال: Multibody System Dynamics
سال: 2018
ISSN: 1384-5640,1573-272X
DOI: 10.1007/s11044-018-09653-1