首页>
外国专利>
METHOD FOR MODELING ROBOT SIMPLIFIED FOR STABLE WALKING CONTROL OF BIPEDAL ROBOT
METHOD FOR MODELING ROBOT SIMPLIFIED FOR STABLE WALKING CONTROL OF BIPEDAL ROBOT
展开▼
机译:用于双足机器人稳定行走控制的简化机器人建模方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A method for modeling a robot simplified for stable walking control of a bipedal robot provides a robot model that is simplified as a virtual pendulum model including a virtual body, two virtual legs connected to the body at a virtual pivot point (VPP) that is set at a position higher than the center of mass (CoM) of the body, and virtual feet connected to the two legs, respectively, to step on the ground. A ground reaction force, which acts on the two legs, acts towards the VPP, thereby providing a restoring moment with respect to the CoM such that stabilization of the posture of the body naturally occurs.
展开▼