Summary of Equations: 3-D 4-DOF Biped w/ Point-Feet, Midleg-Mass
نویسنده
چکیده
l −− > leg length M −− > hip mass m −− > midleg mass gamma −− > slope angle Beta −− > potential shaping angle Hdifference between passive slope angle and actual slope gammaL c −− > Lateral control proportional constant Hin functional conserved quantityL d −− > Lateral control bias constant Hin functional conserved quantityL r −− > Yaw control proportional constant Hin functional conserved quantityL s −− > Yaw control bias constant Hin functional conserved quantityL Kp −− > Lateral proportional control gain for conserved quantity surface tracking Lp −− > Yaw proportional control gain for conserved quantity surface tracking
منابع مشابه
Summary of Equations for Non-Generalized 3D Point-footed, Midleg-Mass, Hipped Walker without Yaw
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