| contributor author | Gora, Sunil | |
| contributor author | Gupta, Shakti S. | |
| contributor author | Dutta, Ashish | |
| date accessioned | 2023-11-29T19:16:39Z | |
| date available | 2023-11-29T19:16:39Z | |
| date copyright | 11/25/2022 12:00:00 AM | |
| date issued | 11/25/2022 12:00:00 AM | |
| date issued | 2022-11-25 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_15_5_054502.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4294675 | |
| description abstract | In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of the NIP, the mass moment of inertia of the body is also considered in the center of mass (CoM) model. The terrain deformation is modeled using a spring-damper contact model, and based on the rigid body dynamics of the NIP, its motion is generated. The energy analysis of the system provides the regions of possible foot placement. Based on the loss of potential energy due to ground deformation, the limits of terrain stiffness are also obtained for walking on uneven deformable terrain. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum | |
| type | Journal Paper | |
| journal volume | 15 | |
| journal issue | 5 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4055999 | |
| journal fristpage | 54502-1 | |
| journal lastpage | 54502-7 | |
| page | 7 | |
| tree | Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 005 | |
| contenttype | Fulltext | |
