3D walking biped: optimal swing of the arms

A ballistic walking gait is designed for a 3D biped with two identical two-link legs, a torso, and two identical one-link arms. In the single support phase, the biped moves due to the existence of a momentum, produced mechanically, without applying active torques in the interlink joints. This biped...

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Veröffentlicht in:	Multibody system dynamics 2014-06, Vol.32 (1), p.55-66
Hauptverfasser:	Aoustin, Y., Formalskii, A. M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automotive Engineering Computer Science Control Dynamical Systems Electrical Engineering Engineering Mechanical Engineering Optimization Robotics Vibration
Online-Zugang:	Volltext
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