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https://open.uns.ac.rs/handle/123456789/10925
Title: | Dynamic balance concept and the maintenance of the dynamic balance in humanoid robotics | Authors: | Vukobratović M. Borovac, Branislav |
Issue Date: | 1-Dec-2008 | Journal: | SISY 2008 - 6th International Symposium on Intelligent Systems and Informatics | Abstract: | One of basic characteristics of regular bipedal walk of humanoid robots is the maintenance of their dynamic balance during the walk, whereby a decisive role is played by the unpowered degrees of freedom arising at the foot-ground contact. Hence, the role of Zero-Moment Point (ZMP) as an indicator of dynamic balance is indispensable. The paper gives a very detailed discussion of some basic theoretical assumptions related to the notion of dynamic balance (term stability, is often used as a synonym, which we consider erroneous). Some special cases of gait in which dynamic balance need not be realized are also discussed. ©2008 IEEE. | URI: | https://open.uns.ac.rs/handle/123456789/10925 | DOI: | 10.1109/SISY.2008.4664900 |
Appears in Collections: | FTN Publikacije/Publications |
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