OTHER
Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models
T. Furuta, Hideaki Yamato, Ken Tomiyama
- 发表年份
- 1999
- 引用次数
- 2
摘要
The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with 2 legs was designed and constructed as an experimental platform. Model reference walking control with a virtual inverted pendulum model is proposed, implemented on the robot to realize stable walking.
关键词
Inverted pendulumHumanoid robotRobotComputer scienceControl theory (sociology)Link (geometry)SimulationDegrees of freedom (physics and chemistry)Control (management)Artificial intelligence
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