Object-oriented dynamics modeling for simulation, optimization and control of walking robots
نویسندگان
چکیده
This paper shows how efficient object oriented dynamics modeling and optimal control techniques form the basis for generating optimal gaits for four-legged and biped robots. Dynamics of walking robots, dynamics algorithms and our object-oriented approach are shortly repeated as well as optimal control techniques. Numerical and experimental results for a four-legged and a humanoid robot are cited.
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