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https://open.uns.ac.rs/handle/123456789/10352
Title: | How to achieve various gait patterns from single nominal | Authors: | Vukobratović M. Andrić D. Borovac, Branislav |
Issue Date: | 1-Jun-2004 | Journal: | International Journal of Advanced Robotic Systems | Abstract: | In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation. | URI: | https://open.uns.ac.rs/handle/123456789/10352 | ISSN: | 17298806 |
Appears in Collections: | FTN Publikacije/Publications |
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