WALKING WITHOUT IMPACTS AS A MOTION FORCE CONTROL PROBLEM

被引：47
作者：
BLAJER, W
SCHIEHLEN, W
机构：
[1] Institute B of Mechanics, University of Stuttgart, Stuttgart 80
[2] Department of Mechanics, Technical University of Radom, Radom
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1992年 / 114卷 / 04期
关键词：
D O I：
10.1115/1.2897738
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper deals with the synthesis of control for impactless bipedal walking. In order to avoid impacts, both the specified motion of the biped and its ground reactions are controlled, yielding a combined motion and force control problem. A method for modeling and solving such problems is proposed, and then illustrated by the example of an impactless planar walk of a seven-link bipedal robot. Some numerical results of the motion simulation are reported.
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页码：660 / 665
页数：6
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