DYNAMICS AND m-STABILITY OF LEGGED ROBOTS

Autor:	Olivier Bruneau, Jean-Guy Fontaine, Jerome Foret
Rok vydání:	2005
Předmět:	Computer Science::Robotics Artificial Intelligence Control theory Computer science Mechanical Engineering Dynamics (mechanics) Robot Stabilizer (aeronautics) Stability (probability) Simulation Biped robot Robot control Stable state
Zdroj:	International Journal of Humanoid Robotics. :1-20
ISSN:	1793-6942 0219-8436
DOI:	10.1142/s0219843605000351
Popis:	This article presents a theoretical approach for modeling and controlling the stability of legged robots. The new proposed concept is two-fold: (a) the definition of the (m-d)-stability and (b) the definition of the Virtual Generalized Stabilizer. These concepts are developed throughout a theoretical and general approach to the dynamics of legged robots. Numerical results are analyzed through the simulated behavior of a biped robot recovering a statically stable state under two conditions: an unstable initial posture and an impulsive external force.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::1d0f96ba85d2aef3ec90a3fbd00926b4 https://doi.org/10.1142/s0219843605000351 Zobrazit plný text záznamu