DocumentCode
1788722
Title
Anthropomorphic walking design for special exoskeletons
Author
Ptakhin, Alexander ; Aliseychik, Anton ; Orlov, Igor ; Pavlovsky, Vladimir
Author_Institution
Moscow State Univ., Moscow, Russia
fYear
2014
fDate
3-5 Sept. 2014
Firstpage
1
Lastpage
5
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on
Conference_Location
Smolenice
Print_ISBN
978-1-4799-6797-1
Type
conf
DOI
10.1109/RAAD.2014.7002250
Filename
7002250
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