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

Multibody System Dynamics

Volumn 23, Issue 1, 2010, Pages 33-56

  Tlalolini, David ^a   Aoustin, Yannick ^a   Chevallereau, Christine ^a  

^a UNIVERSITÉ DE NANTES   (France)

Author keywords

3D Bipedal robot; Cyclic walking gait; Fully actuated robot; Newton Euler algorithm; Parametric optimization; Robot dynamics

Indexed keywords

3D BIPEDAL ROBOT; CYCLIC WALKING GAIT; NEWTON-EULER; NEWTON-EULER ALGORITHM; PARAMETRIC OPTIMIZATION; ROBOT DYNAMICS; WALKING GAIT;

ALGORITHMS; BIPED LOCOMOTION; CONVERGENCE OF NUMERICAL METHODS; INTERPOLATION; MUSCULOSKELETAL SYSTEM; OPTIMIZATION; ROBOTS; SPLINES; THREE DIMENSIONAL; TORQUE;

ELECTRIC NETWORK PARAMETERS;

EID: 74249104179     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-009-9175-1     Document Type: Article

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