Please use this identifier to cite or link to this item:
https://open.uns.ac.rs/handle/123456789/10352
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Vukobratović M. | en |
dc.contributor.author | Andrić D. | en |
dc.contributor.author | Borovac, Branislav | en |
dc.date.accessioned | 2020-03-03T14:39:00Z | - |
dc.date.available | 2020-03-03T14:39:00Z | - |
dc.date.issued | 2004-06-01 | en |
dc.identifier.issn | 17298806 | en |
dc.identifier.uri | https://open.uns.ac.rs/handle/123456789/10352 | - |
dc.description.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. | en |
dc.relation.ispartof | International Journal of Advanced Robotic Systems | en |
dc.title | How to achieve various gait patterns from single nominal | en |
dc.type | Journal/Magazine Article | en |
dc.identifier.scopus | 2-s2.0-77953522696 | en |
dc.identifier.url | https://api.elsevier.com/content/abstract/scopus_id/77953522696 | en |
dc.relation.lastpage | 108 | en |
dc.relation.firstpage | 99 | en |
dc.relation.issue | 1 | en |
dc.relation.volume | 1 | en |
item.fulltext | No Fulltext | - |
item.grantfulltext | none | - |
crisitem.author.dept | Fakultet tehničkih nauka, Departman za industrijsko inženjerstvo i menadžment | - |
crisitem.author.parentorg | Fakultet tehničkih nauka | - |
Appears in Collections: | FTN Publikacije/Publications |
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