Title :
Mathematical model of a multi-segment, multi-joint biped: summary and observations
Author :
Shaw, John ; Mulder, Michael C. ; Meeker, Charles
Abstract :
The interaction of a biped and the external force of gravity is predicted by applying Newton´s equation to a point-mass model. Numerical integration predicts angles and angular velocities over time. Two modes of calculation are necessary, depending on whether both feet are in contact with the ground or only one. Transition equations to transfer between these two modes are based on assuming an inelastic collision at the moment of foot contact
Keywords :
integration; mobile robots; Newton´s equation; angles; angular velocities; gravity; inelastic collision; mobile robots; multi-segment multi-joint biped; numerical integration; point-mass model; Acceleration; Analytical models; Angular velocity; Computational modeling; Equations; Foot; Gravity; Mathematical model; Motion analysis; Predictive models;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131937
