类人行走控制中的有限状态机

2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP) Pub Date : 2015-12-03 DOI:10.1109/SCP.2015.7342070

Alexei Beloshapko, V. Bubnov, V. Latypov

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引用次数: 1

摘要

提出了一种自动推导拉格朗日运动方程的方法。开发了该机构不同工作模式的数值模型构建软件。该系统应用于两足机构平面行走模式生成问题。

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Finite state machines in human-like walking control

An automatic approach to derivation of Lagrange equations of motion is proposed. The software for construction of numerical models for different working modes of the mechanism is developed. The presented system is applied to the problem of planar walking pattern generation for bipedal mechanisms.

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2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP)

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