A. Petrisor, N. Bîzdoaca, S. Degeratu, A. Drighiciu, G. P. Serb, D. Coman, M. Popescu
{"title":"一种三自由度步行机器人的控制策略","authors":"A. Petrisor, N. Bîzdoaca, S. Degeratu, A. Drighiciu, G. P. Serb, D. Coman, M. Popescu","doi":"10.1109/EURCON.2007.4400493","DOIUrl":null,"url":null,"abstract":"The paper presents the mathematical model of a walking robot where the active pair of legs has three free joints. The mathematical model of the robot is determined considering a systemic approach of the robot as variable causality dynamic systems (VCDS). Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The results can be extended to three-dimensional space. The approach is best on variable dynamic systems, considering that each leg of the pair can change the state depending of the causality order. It is considered that the first leg has both joints free and the second leg has the second joint free. The model is implemented in MATLAB environment and some evolutions examples are presented.","PeriodicalId":191423,"journal":{"name":"EUROCON 2007 - The International Conference on \"Computer as a Tool\"","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"Control Strategy of a 3-DOF Walking Robot\",\"authors\":\"A. Petrisor, N. Bîzdoaca, S. Degeratu, A. Drighiciu, G. P. Serb, D. Coman, M. Popescu\",\"doi\":\"10.1109/EURCON.2007.4400493\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents the mathematical model of a walking robot where the active pair of legs has three free joints. The mathematical model of the robot is determined considering a systemic approach of the robot as variable causality dynamic systems (VCDS). Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The results can be extended to three-dimensional space. The approach is best on variable dynamic systems, considering that each leg of the pair can change the state depending of the causality order. It is considered that the first leg has both joints free and the second leg has the second joint free. The model is implemented in MATLAB environment and some evolutions examples are presented.\",\"PeriodicalId\":191423,\"journal\":{\"name\":\"EUROCON 2007 - The International Conference on \\\"Computer as a Tool\\\"\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"EUROCON 2007 - The International Conference on \\\"Computer as a Tool\\\"\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EURCON.2007.4400493\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"EUROCON 2007 - The International Conference on \"Computer as a Tool\"","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURCON.2007.4400493","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The paper presents the mathematical model of a walking robot where the active pair of legs has three free joints. The mathematical model of the robot is determined considering a systemic approach of the robot as variable causality dynamic systems (VCDS). Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The results can be extended to three-dimensional space. The approach is best on variable dynamic systems, considering that each leg of the pair can change the state depending of the causality order. It is considered that the first leg has both joints free and the second leg has the second joint free. The model is implemented in MATLAB environment and some evolutions examples are presented.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
