Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization

DOI10.1007/s11044-009-9175-1zbMath1355.70006OpenAlexW2041880380MaRDI QIDQ2655362

David Tlalolini, Yannick Aoustin, Christine Chevallereau

Publication date: 25 January 2010

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-009-9175-1

zbMATH Keywords

parametric optimizationrobot dynamics3D bipedal robotcyclic walking gaitfully actuated robotNewton-Euler algorithm

Mathematics Subject Classification ID

Sensitivity, stability, parametric optimization (90C31) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Biophysics (92C05)

Related Items (7)

Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches ⋮ Optimization of the parameters of feet and the laws of motion of bipedal walking robots ⋮ $${{\mathcal H}}_{\infty }$$ H ∞ - Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint ⋮ Rigid vs compliant contact: an experimental study on biped walking ⋮ A new human-like walking for the humanoid robot \textit{Romeo} ⋮ A review of simulation methods for human movement dynamics with emphasis on gait ⋮ Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases

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• Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet

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