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

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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