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Tkach, M.
Review the methods and approaches for planning trajectory biped walking biped robot and introduce a new concept for maintaining the highest safety factor on uneven terrain during dynamic [] !Otitkn.pft: FILE NOT FOUND! !oizd.pft: FILE NOT FOUND! !ospec.pft: FILE NOT FOUND! !oistaspk_H.pft: FILE NOT FOUND! Рубрикатор НБУВ: УДК: Тематичні рубрики:
Шифр журнала:
Кл.слова (ненормированные):
biped robot -- walking robot -- planning trajectories of biped robot -- stability -- uneven ground -- reaction force distribution -- zero moment point
Анотація: Biped robot expected to achieve stable walking on uneven terrains. For that, we should have some different algorithms to achieved generation robot trajectory with stable walking and controlling balance in different error patterns. In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles to obtain the desired absolute position at big angular momentum during dynamic walking of Biped Robot on uneven terrain. !oprip481_H.pft: FILE NOT FOUND!
Дод. точки доступу:
Araffa, K.; Humennyi, D.
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