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https://open.uns.ac.rs/handle/123456789/6813
Nаziv: | Walking on slippery surfaces: Generalized task-prioritization framework approach | Аutоri: | Nikolić, Milica Branislav B. Raković, Mirko |
Dаtum izdаvаnjа: | 1-јан-2014 | Čаsоpis: | Mechanisms and Machine Science | Sažetak: | © Springer International Publishing Switzerland 2014. Like humans, bipedal robots can easily fall on slippery and low-friction surfaces. In order to avoid costly breakdowns, fall avoidance is of major importance. Recently reported generalized task-prioritization framework enables us to impose dynamical inequality constraints on the robot motion, which we used to create quasi-static walk using task prioritization. Created walking is tested on high- and low-friction surfaces and resulting walking patterns are observed. | URI: | https://open.uns.ac.rs/handle/123456789/6813 | ISBN: | 9783319070575 | ISSN: | 22110984 | DOI: | 10.1007/978-3-319-07058-2_22 |
Nаlаzi sе u kоlеkciјаmа: | FTN Publikacije/Publications |
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