Hardt, M. ; Stryk, Oskar von (2003)
Dynamic modeling in the simulation, optimization and control of legged robots.
In: ZAMM - Journal of Applied Mathematics and Mechanics, 83 (10)
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose.Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Hardt, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Dynamic modeling in the simulation, optimization and control of legged robots |
| Sprache: | Englisch |
| Publikationsjahr: | 2003 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | ZAMM - Journal of Applied Mathematics and Mechanics |
| Jahrgang/Volume einer Zeitschrift: | 83 |
| (Heft-)Nummer: | 10 |
| URL / URN: | http://www.wiley-vch.de/publish/en/journals/alphabeticIndex/... |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose.Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:00 |
| Letzte Änderung: | 24 Jun 2019 13:00 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum