VIRTUAL FORCES BASED LOCOMOTION STRATEGY AND ENERGY BALANCE ANALYSIS
作者： G. Muscato , G. Spampinato , M. Costa
DOI: 10.3182/20060906-3-IT-2910.00113
关键词: Degrees of freedom (mechanics) 、 Gait (human) 、 Control engineering 、 Engineering 、 Control theory 、 Field (computer science) 、 Kinematics 、 Some Energy 、 Motion (physics) 、 Energy balance 、 Gait analysis
摘要: Abstract This paper presents some control methodologies in the field of biped locomotion. In particular a nine degrees freedom planar robot has been considered. Some gait and posture strategies have developed using simple but efficient force position scheme, based on reinterpretation Virtual Model Control approach. Finally energy analysis carried out during motion.
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