OTHER
The Sway Compensation Trajectory for a Biped Robot
S. Tanaka, Ryo Kurazume, T. Hasegawa, K. Yoneda, T. Tamaki
- Year
- 2003
- Citations
- 2
- Access
- Open access
Abstract
2足歩行機械の安定動歩行を実現するために, 簡単な単一質点モデルで計算された重心軌道を多質点モデルを用いた収束計算により修正することで, 動的安定点に近い ZMP 軌道, 重心軌道を同時に得る手法を提案する。
Keywords
TrajectoryCompensation (psychology)Computer scienceControl theory (sociology)RobotPhysical medicine and rehabilitationArtificial intelligencePsychologyMedicinePhysics
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