- Tytuł:
- Dynamical approach to the diagonal gait synthesis: theory and experiments
- Autorzy:
-
Zielińska, T.
Trojnacki, M. - Powiązania:
- https://bibliotekanauki.pl/articles/385059.pdf
- Data publikacji:
- 2009
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
quadruped robot
diagonal gait
postural equilibrium
force distribution
computer simulation - Opis:
- The method of two-legged diagonal gait synthesis for the quadruped robot is introduced. The problem of dynamic postural equilibration taking into account the role of compliant feet is solved. The equilibrium conditions are split to the feet attachments points and the points within the feet-end area. In simulation example the slip avoidance condition is tested. Presented method has the meaning for motion synthesis taking into account the robot parameters and - for the design of the feet considering the dynamically stable gaits. The method was proved by using simulations and experiments.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2009, 3, 2; 3-7
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł