메뉴 건너뛰기




Volumn , Issue , 2009, Pages 121-127

A penalty-based approach for contact forces computation in bipedal robots

Author keywords

[No Author keywords available]

Indexed keywords

APRIORI; BIPEDAL ROBOT; BIPEDAL WALKING ROBOT; CONSTRAINT-BASED; CONTACT FORCES; DAMPER MODEL; GENERALIZED COORDINATES; INPUT-OUTPUT FEEDBACK LINEARIZATION; MECHANICAL SYSTEMS; OPTIMIZATION PROBLEMS; RIGID BODY; STATIC FRICTION; UNILATERAL CONSTRAINTS; UNILATERAL CONTACT; VELOCITY THRESHOLD;

EID: 77950588331     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2009.5379590     Document Type: Conference Paper
Times cited : (6)

References (16)
  • 1
    • 0037058316 scopus 로고    scopus 로고
    • A time-stepping method for stiff multi-body dynamics with contact and friction
    • M. Anitescu and F. Potra, "A time-stepping method for stiff multi-body dynamics with contact and friction," International Journal for Numerical Methods in Engineering, Vol. 55, no. 7, pp. 753-784, 2002.
    • (2002) International Journal for Numerical Methods in Engineering , vol.55 , Issue.7 , pp. 753-784
    • Anitescu, M.1    Potra, F.2
  • 4
    • 0344033727 scopus 로고    scopus 로고
    • Post-stabilization for rigid body simulation with contact and constraints
    • Sept
    • M. Cline and D. Pai, "Post-stabilization for rigid body simulation with contact and constraints," in IEEE International Conference on Robotics and Automation, Vol. 3, Sept 2003, pp. 3744-3751.
    • (2003) IEEE International Conference on Robotics and Automation , vol.3 , pp. 3744-3751
    • Cline, M.1    Pai, D.2
  • 9
    • 12844258154 scopus 로고    scopus 로고
    • Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and Gauss-Seidel methods
    • T. Liu and M. Wang, "Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and Gauss-Seidel methods," IEEE Transactions on Automation Science and Engineering, Vol. 2, no. 1, pp. 19-31,2005.
    • (2005) IEEE Transactions on Automation Science and Engineering , vol.2 , Issue.1 , pp. 19-31
    • Liu, T.1    Wang, M.2
  • 13
    • 0032282916 scopus 로고    scopus 로고
    • Convergence of a time-stepping scheme for rigid-body dynamics and resolution of painlevé's problem
    • D. E. Stewart, "Convergence of a time-stepping scheme for rigid-body dynamics and resolution of painlevé's problem," Archive for Rational Mechanics and Analysis, Vol. 145, no. 3, pp. 215-260, 1998.
    • (1998) Archive for Rational Mechanics and Analysis , vol.145 , Issue.3 , pp. 215-260
    • Stewart, D.E.1
  • 14
    • 0033731657 scopus 로고    scopus 로고
    • Rigid-body dynamics with friction and impact
    • D. E. Stewart, -, "Rigid-body dynamics with friction and impact," SIAM Review, Vol. 42, no. 1, pp. 3-39, 2000.
    • (2000) SIAM Review , vol.42 , Issue.1 , pp. 3-39
    • Stewart, D.E.1
  • 15
    • 0038199839 scopus 로고    scopus 로고
    • Dynamic filter - Concept and implementation of online motion generator for human figures
    • K. Yamane and Y. Nakamura, "Dynamic filter - concept and implementation of online motion generator for human figures," IEEE Transactions on Robotics and Automation, Vol. 19, no. 3, pp. 421-432, 2003.
    • (2003) IEEE Transactions on Robotics and Automation , vol.19 , Issue.3 , pp. 421-432
    • Yamane, K.1    Nakamura, Y.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.