Input torque sensitivity to uncertain parameters in biped robot

DOI10.1007/s10409-013-0025-2zbMath1345.70010OpenAlexW2061030412MaRDI QIDQ315103

Chang-Tao Ding, Chun-Biao Gan, Shi-Xi Yang

Publication date: 19 September 2016

Published in: Acta Mechanica Sinica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10409-013-0025-2

zbMATH Keywords

sensitivityinput torquetrajectory planningbiped robotuncertain parameter

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (3)

Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances ⋮ Uncertain eigenvalue analysis by the sparse grid stochastic collocation method

Cites Work

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• A modal approach for the evaluation of the response sensitivity of structural systems subjected to non-stationary random processes
• RESPONSE STATISTICS OF LINEAR STRUCTURES WITH UNCERTAIN-BUT-BOUNDED PARAMETERS UNDER GAUSSIAN STOCHASTIC INPUT
• A General Purpose Algorithm for Optimal Trajectory Planning of Closed Loop Multibody Systems
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Global minimum-time trajectory planning of mechanical manipulators using interval analysis

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