| Autor: |
Ceccarelli, Marco, Bezerra, Carlos André Dias, Zampieri, Douglas Eduardo |
| Zdroj: |
International Symposium on History of Machines & Mechanisms; 2004, p371-389, 19p |
| Abstrakt: |
Researchers from all over the world have studied biped robots. The robots have an inherently unstable structure and whose modeling and control can be carried out by different techniques. The aim of this study is to present a critical literature review of the main types of biped robots developed until the present date, including Brazil. According to their particular features presented in the literature, robots will be treated concerning dimensions, degrees of freedom or system of control. Advantages and disadvantages of moving robots when compared to leg robots will be presented. This comparison will also be done taking into account other types of robots. The evolution of biped robots also will be presented including those ones for entertainment purposes. Mathematical modeling for determination of equation of motion, Zero Moment Point, and application of control theory in order to allow a response for a standard input is also showed. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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