منابع مشابه
Bipedal Walking and Autobalancing
This thesis explores the dynamics of two mechanical systems capable of performing their tasks without the use of active control. The first system is an autobalancer, which can continuously balance rotating machinery. This is accomplished by using compensating masses that move in a viscous media about the axis of rotation. The second system is a passive bipedal walker, capable of human like gait...
متن کاملTowards Smooth Bipedal Walking
mission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract In this paper we examine exchange-of-support for a simple planar bipedal robot. We derive a set of conditions which will...
متن کاملSimulation of Bipedal Walking
A 3-dimensional computer model of sustained bipedal walking is presented. It is intended be used as a development tool for walking controllers. The direct dynamic simulation has 8 segments, 19 degrees of freedom and is driven by prescribed joint moment and stiffness trajectories. Limited feedback in the form of a proportional-derivative controller provides upper body stability and allows walkin...
متن کاملToward a robust control of bipedal walking from human demonstration
Toward a robust control of bipedal walking from human demonstration Gregory T. Huang, Andreas G. Hofmann, Patrick O. Riley, Gill A. Pratt, and Hugh M. Herr 1 Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 200 Technology Square, Room 006, Cambridge, MA 02139, USA. E-mail: {huang, hofma, gill, hherr}@ai.mit.edu 2 Gait Laboratory, Spaulding Rehabilitation Hospital, 125 ...
متن کاملMotion Planning for Bipedal Walking
In this thesis I consider the problem of motion planning for walking, bipedal robots, including humanoid robots. While a number of problems complicate planning for robots with a large number of degrees of freedom that possess many dynamic constraints, such as a bipedal system, a simplified framework can be used to find an approximate solution to some planning problems even though, in general, t...
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ژورنال
عنوان ژورنال: Biomechanisms
سال: 1984
ISSN: 1348-7116,1349-497X
DOI: 10.3951/biomechanisms.7.287