Title :
Towards a unified form of biped robot dynamic modeling
Author :
Caux, S. ; Zapata, R.
Author_Institution :
Lab. de Inf., de Robotique et de Microelectron., Univ. des Sci. et Tech. du Languedoc, Montpellier, France
Abstract :
This paper addresses the modeling of biped dynamics and its use for controlling walking, running and jumping robots. We describe two approaches of dynamic modelling: the basic Lagrange´s approach and the non-regular one. Discrete impact and ground contact management are given and a comparison is carried out in simulation
Keywords :
mobile robots; path planning; robot dynamics; Lagrange´s approach; biped robot dynamic modeling; ground contact management; jumping robots; running; simulation; unified form; walking; Animals; Biological system modeling; Computer crashes; Equations; Horses; Humans; Lagrangian functions; Legged locomotion; Robot kinematics; Service robots;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633111
