Simulation and control of a biped jogging robot

被引：0
|
作者：
Löffler, K [1 ]
Gienger, M [1 ]
Pfeiffer, F [1 ]
机构：
[1] Tech Univ Munich, Lehrstuhl Mech B, D-8046 Garching, Germany
来源：
CLIMBING AND WALKING ROBOTS | 2001年
关键词：
D O I：
暂无
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 anthropomorphic biped robot "Johnnie" has been developed at the Technical University of Munich. Here the employed simulation scheme and control concept for this robot are presented. The controller is designed to achieve a three-dimensional dynamically stable gait on even and uneven ground as well as around curves. Furthermore, it is planned to realize a jogging motion which is characterized by periodic ballistic phases in the gait cycle.
引用
收藏
页码：867 / 874
页数：8
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