Title :
Finite state machines in human-like walking control
Author :
Alexei Beloshapko;Vladislav Bubnov;Viktor Latypov
Author_Institution :
St. Petersburg State University, 7/9 Universitetskaya nab., 199034, Russia
Abstract :
An automatic approach to derivation of Lagrange equations of motion is proposed. The software for construction of numerical models for different working modes of the mechanism is developed. The presented system is applied to the problem of planar walking pattern generation for bipedal mechanisms.
Keywords :
"Mathematical model","Legged locomotion","Digital signal processing","Robot kinematics","Automata","Dynamics"
Conference_Titel :
"Stability and Control Processes" in Memory of V.I. Zubov (SCP), 2015 International Conference
DOI :
10.1109/SCP.2015.7342070