Linear viscoelastic actuator-based control system of a bipedal walking robot

被引：1
|
作者：
Berbyuk, V [1 ]
Peterson, B [1 ]
Nishchenko, N [1 ]
机构：
[1] Natl Acad Sci Ukraine, Pidstryhach Inst Appl Problems Mech & Math, UA-290601 Lvov, Ukraine
来源：
MECHATRONICS '98 | 1998年
关键词：
D O I：
10.1016/B978-008043339-4/50061-4
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The optimisation approach for designing of the rotational spring-damper actuators providing the programmed goal-directed motion of a bipedal walking robot is proposed. The problem is formulated as an approximation procedure for the controlling torques acting at the joints of the robot during its optimal motion. Analysis of the obtained numerical results has shown that the anthropomorphic energy-optimal goal-directed motion of the bipedal walking robot could be generated by the rotational spring-damper actuators with one switching of each of their parameters during the double step of the robot.
引用
收藏
页码：379 / 384
页数：6
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