| contributor author | W. Blajer | |
| contributor author | W. Schiehlen | |
| date accessioned | 2017-05-08T23:37:52Z | |
| date available | 2017-05-08T23:37:52Z | |
| date copyright | December, 1992 | |
| date issued | 1992 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26187#660_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/109919 | |
| description abstract | The paper deals with the synthesis of control for impactless bipedal walking. In order to avoid impacts, both the specified motion of the biped and its ground reactions are controlled, yielding a combined motion and force control problem. A method for modeling and solving such problems is proposed, and then illustrated by the example of an impactless planar walk of a seven-link bipedal robot. Some numerical results of the motion simulation are reported. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Walking Without Impacts as a Motion/Force Control Problem | |
| type | Journal Paper | |
| journal volume | 114 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2897738 | |
| journal fristpage | 660 | |
| journal lastpage | 665 | |
| identifier eissn | 1528-9028 | |
| keywords | Motion | |
| keywords | Force control | |
| keywords | Robots | |
| keywords | Simulation AND Modeling | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1992:;volume( 114 ):;issue: 004 | |
| contenttype | Fulltext | |