Ground reaction force analysis of biped locomotion

被引：0

作者：

Yuksel, B ^{[1
]}

Zhou, CJ ^{[1
]}

Leblebicioglu, K ^{[1
]}

机构：

[1] Middle E Tech Univ, TR-06531 Ankara, Turkey

来源：

2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2004年

关键词：

biped locomotion; ground reaction force (GRF); controller gain parameter adjustment; dynamic simulation; landing impact and smooth transition;

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：

This paper aims to analyze the ground reaction force in terms of smooth transition and landing impact under the parametric change of frontal gait trajectory that is realized by inverted pendulum model and the parametric change in the proportional gain of PID feedback controller. Using a dynamic simulator, namely, SL Simulator, the ground reaction force analysis is realized and the simulation results and comparison of them are presented.

引用

页码：330 / 335

页数：6

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