Stable Gait Generation on a Low Friction Road Surface by Making Impact Posture Asymmetric
| Autor: | Fumihiko Asano, Donggyun Jung |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Physics::Medical Physics 02 engineering and technology Mechatronics Low friction Stable gait Computer Science::Robotics 020303 mechanical engineering & transports 020901 industrial engineering & automation Gait (human) 0203 mechanical engineering Control theory Road surface Control system Walking gait Target control |
| Zdroj: | ICM |
| DOI: | 10.1109/icm46511.2021.9385702 |
| Popis: | This paper introduces the telescopic-legged model, which can generate stable walking gait on a low friction road surface by making asymmetric impact posture. First, we introduce an 8-DOF telescopic-legged model, and describe the equation of motion and design a control system. Second, we investigate the possibility of stable gait generation on a low friction road surface with changes the target control period and the impact posture. Third, we analyze the performance of the converged walking and the pattern of gait generation by changing impact posture. Finally, we discuss the results and future works. |
| Databáze: | OpenAIRE |
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