A simulator for biped robot with a continuous contact model

被引：0

作者：

Beurier, G ^{[1
]}

Roussel, L ^{[1
]}

Perrin, B ^{[1
]}

机构：

[1] UPMC, UVSQ, URA CNRS 1778, Robot Lab, Velizy Villacoublay, France

来源：

MOTION CONTROL (MC'98) | 1999年

关键词：

biped simulator; dynamic simulator; Matlab software; control law benchmark; contact model;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present a 2D biped simulator with a continuous contact model. The biped mathematical model is a free falling dynamical model when the biped has no interaction with the ground. During contact, the appropriate reaction forces from the ground to the feet are computed at each time step. The selected contact model is non-linear, expressed in the cartesian space. Copyright (C) 1998 IFAC.

引用

页码：183 / 188

页数：6

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