Research on coupling dynamics and coordinated control of a legged robot

This article develops a coupling dynamic method focusing on the coupling relationship between the leg and the body of a legged robot. The dynamic equation of the method reflects the mechanism between an active operating part and a passive moving part among a multibody system. It is used to adjust th...

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Veröffentlicht in:	Journal of vibration and control 2021-10, Vol.27 (19-20), p.2385-2399
Hauptverfasser:	Chen, Zhengcang, Yang, Chaoyue, Shen, Jianjun, Jia, Feng
Format:	Artikel
Sprache:	eng
Schlagworte:	Control tasks Coupling Dynamic models Mathematical analysis Multibody systems Posture Robot control Robots Rollover
Online-Zugang:	Volltext
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