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Planar Walking of a Five-Link Biped Robot over a Stepped Surface with Obstacles of Different Heights and Lengthsстатья
Информация о цитировании статьи получена из
Scopus
Статья опубликована в журнале из списка Web of Science и/или Scopus
Дата последнего поиска статьи во внешних источниках: 10 апреля 2024 г.
- Авторы: Kasiyanchuk Dmitry A., Fetisov Dmitry A.
- Журнал: Journal of Physics: Conference Series
- Том: 2701
- Номер: 1
- Год издания: 2024
- Издательство: IOP Publishing
- Местоположение издательства: [Bristol, UK], England
- Номер статьи: 012020
- DOI: 10.1088/1742-6596/2701/1/012020
- Аннотация: A problem of modeling biped locomotion is an actual and complex problem of modern control theory. In the present paper, we deal with a special case when a five-link biped robot with knees moves along a given stepped surface. We describe the robot motion by a hybrid system which consists of a system of ordinary differential equations at the single support phase and an algebraic relation at the double support phase. The main contribution of this paper is the construction of a periodic motion that satisfies a set of conditions inherent in human walking. The results of the paper will be useful to those who are interested in control theory applications.
- Добавил в систему: Фетисов Дмитрий Анатольевич