Title :
Anthropomorphic walking design for special exoskeletons
Author :
Ptakhin, Alexander ; Aliseychik, Anton ; Orlov, Igor ; Pavlovsky, Vladimir
Author_Institution :
Moscow State Univ., Moscow, Russia
Abstract :
Work deals with biped mechanical systems, so called exoskeletons. General purpose of this work is to construct control for exoskeleton motion similar to human walking. In the work the following problems are considered: kinematics synthesis based on motion capture technology, solving direct dynamics problems for finding control torques, full control system elaborating and verifying constructed system in a program of physical modeling.
Keywords :
legged locomotion; motion control; robot dynamics; robot kinematics; anthropomorphic walking design; biped mechanical systems; control torques; direct dynamics problems; exoskeleton motion control; full control system; kinematics synthesis; motion capture technology; physical modeling; special exoskeletons; Acceleration; Equations; Exoskeletons; Kinematics; Legged locomotion; Mathematical model; Vectors;
Conference_Titel :
Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on
Conference_Location :
Smolenice
Print_ISBN :
978-1-4799-6797-1
DOI :
10.1109/RAAD.2014.7002250
