| Autor: |
Olivier Stasse, Nelly Nadjar-Gauthier, Kazuhito Yokoi, Victor Nunez, Pierre Blazevic |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
Humanoid Robots, Human-like Machines |
| Popis: |
1.1 Description of the approach The motion generation section describes the input parameters for the PoCtr presented on section 3, and discusses the relationship between the inertial forces and the zmp and angular momentum will be presented. The inertial force PoCtr is the main result presented in this work. It is based on the Lagrangian equations of motion which relates the accelerations of the actuated articulations with the generalized external forces (force and torque) acting at the support foot of the humanoid. The generalized inertial forces are the derivatives of the linear and angular momentum of the whole humanoid. By controlling these parameters it is possible to consider the zero moment point (zmp) stability of the robot. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
