Sequential Method of Analytical Potentials An Approach for the Biped Robots Dynamic Gait generation
A David, O Bruneau - 2008 IEEE/RSJ International Conference …, 2008 - ieeexplore.ieee.org
A David, O Bruneau
2008 IEEE/RSJ International Conference on Intelligent Robots and …, 2008•ieeexplore.ieee.orgThis paper presents a tool called sequential method of analytical potentials aiming to
generate dynamic gaits for biped robots. The objective is to control the different
accelerations governing the evolution of the robot by modifying precisely and directly its own
dynamic effects. Taking into account the intrinsic dynamics of the robot as well as the
capability of its joint actuators, this method is based on the use of the dynamic propulsion
potential and is illustrated on the biped robot RABBIT.
generate dynamic gaits for biped robots. The objective is to control the different
accelerations governing the evolution of the robot by modifying precisely and directly its own
dynamic effects. Taking into account the intrinsic dynamics of the robot as well as the
capability of its joint actuators, this method is based on the use of the dynamic propulsion
potential and is illustrated on the biped robot RABBIT.
This paper presents a tool called sequential method of analytical potentials aiming to generate dynamic gaits for biped robots. The objective is to control the different accelerations governing the evolution of the robot by modifying precisely and directly its own dynamic effects. Taking into account the intrinsic dynamics of the robot as well as the capability of its joint actuators, this method is based on the use of the dynamic propulsion potential and is illustrated on the biped robot RABBIT.
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