Littérature scientifique sur le sujet « Planar walking robot »
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Articles de revues sur le sujet "Planar walking robot"
Zhou, Yu. « On the planar stability of rigid-link binary walking robots ». Robotica 21, no 6 (24 octobre 2003) : 667–75. http://dx.doi.org/10.1017/s0263574703005162.
Texte intégralGhanbari, Ahmad, S. Mohammad Reza S. Noorani, Hamid HajiMohammadi et Aida Parvaresh. « Toward Realization a 7-Links Biped Robot - Trajectory Generation ». Advanced Materials Research 816-817 (septembre 2013) : 712–16. http://dx.doi.org/10.4028/www.scientific.net/amr.816-817.712.
Texte intégralJi, Qiaoli, Zhihui Qian, Lei Ren et Luquan Ren. « How does ankle push-off balance the walking speed and energy efficiency of planar biped robots ? » Advances in Mechanical Engineering 13, no 4 (avril 2021) : 168781402110119. http://dx.doi.org/10.1177/16878140211011905.
Texte intégralAgrawal, Abhishek, et Sunil K. Agrawal. « An Approach to Identify Joint Motions for Dynamically Stable Walking ». Journal of Mechanical Design 128, no 3 (21 juillet 2005) : 649–53. http://dx.doi.org/10.1115/1.2181996.
Texte intégralAnjidani, Majid, M. R. Jahed Motlagh, M. Fathy et M. Nili Ahmadabadi. « A novel online gait optimization approach for biped robots with point-feet ». ESAIM : Control, Optimisation and Calculus of Variations 25 (2019) : 81. http://dx.doi.org/10.1051/cocv/2017034.
Texte intégralBAGHERI, AHMAD, FARID NAJAFI, REZA FARROKHI, RAHMAN YOUSEFI MOGHADDAM et MOHAMMAD EBRAHIM FELEZI. « DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT ». International Journal of Humanoid Robotics 03, no 01 (mars 2006) : 105–26. http://dx.doi.org/10.1142/s0219843606000527.
Texte intégralChannon, P. H., S. H. Hopkins et D. T. Pham. « Derivation of optimal walking motions for a bipedal walking robot ». Robotica 10, no 2 (mars 1992) : 165–72. http://dx.doi.org/10.1017/s026357470000758x.
Texte intégralTang, Yongchen, Shugen Ma, Yi Sun et Dingxin Ge. « Planar legged walking of a passive-spine hexapod robot ». Advanced Robotics 29, no 23 (21 août 2015) : 1510–25. http://dx.doi.org/10.1080/01691864.2015.1070105.
Texte intégralKrishchenko, A. P., S. B. Tkachev et D. A. Fetisov. « Planar walking control for a five-link biped robot ». Computational Mathematics and Modeling 18, no 2 (avril 2007) : 176–91. http://dx.doi.org/10.1007/s10598-007-0018-8.
Texte intégralŞafak, Koray K., Turgut Batuhan Baturalp et Selim Bozkurt. « Parametric Design and Prototyping of a Low-Power Planar Biped Robot ». Biomimetics 8, no 4 (5 août 2023) : 346. http://dx.doi.org/10.3390/biomimetics8040346.
Texte intégralThèses sur le sujet "Planar walking robot"
Langard, Morgan. « Robot humanoïde bioinspiré : Conception et expérimentation ». Electronic Thesis or Diss., Angers, 2023. http://www.theses.fr/2023ANGE0079.
Texte intégralIn the field of humanoïd robotic, bipedal walking is still an open research fiel, such as the development of control laws, trajectory generation or original architecture designs. Bipedal robots classicaly use rotative motors for their actuation system. These motors are usually coupled with a reduction system in order to achieve sufficient torques. This combination impose to compromise between the output torque and the mecanical reversibility of the system, which limits impact absorption. An alternative is the use of direct-drive linear actuators, inherently reversible. However, linear motors are scarcely used with a rotative actuator linked to a ball-screw, with a limited reversibility. As linear motors produce a translational force, a torque is generated through a lever arm. This specificity requires an optimal placement of the actuators to en sure the feasability of the required torques. To improve our knowledge of this technology and evaluate its use in the robotic field, multiple bipedal planar robot architectures are simulated along different trajectories and compared. In parallel, an optimal geometry is computed for each architecture to maximize motion feasability. From these results, a prototype using solely direct-drive linear actuators is designed and built in order to verify simulation data
Yang, Tao. « Control of aperiodic walking and the energetic effects of parallel joint compliance of planar bipedal robots ». Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1196203534.
Texte intégralYang, Yun-Yu, et 楊昀諭. « Modeling and Walking Control of a Seven-link Planar Biped Robot ». Thesis, 2012. http://ndltd.ncl.edu.tw/handle/40155465814225506651.
Texte intégral國立中興大學
機械工程學系所
100
In this thesis, modeling and control of a seven-link planar biped robot are considered. The dynamics models including the double support phase and single support phase motion equations are first derived using the Lagrange’s equations. And then based on conservation of angular momentum, the impact’s angular velocity transformation equations are derived. A gait pattern consisted of a preparation phase, two complete paces, and one ending phase, is synthesized by considering the support leg as a single inverted pendulum and the swing leg’s trajectories are planned via polynomial interpolation. Inverse kinematics equations are derived using geometric methods for calculating the joint trajectories of the swing leg. Furthermore, based on Lyapunov stability, stable adaptive controls for the double support and single support phase are respectively derived. In the stable adaptive controllers, radial basis neural network (RBNN) function approximators are included to compensate for the model uncertainty. Finally, computer simulations are presented to illustrate the effectiveness of the suggested control strategy.
Pasupuleti, Murali Krishna. « Design and Implementation of Voltage Based Human Inspired Feedback Control of a Planar Bipedal Robot AMBER ». Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11447.
Texte intégralLi, Hau-Koung, et 李皓光. « Path Planning and Simulation of Autonomous Quadruped Robot Walking through Non-planar Type River-stone Terrain ». Thesis, 2008. http://ndltd.ncl.edu.tw/handle/69551529818831413067.
Texte intégral國立交通大學
機械工程系所
96
The applications of a quadruped robot are adopted quite extensive, such as military, industry, entertainment, etc. Higher and higher topographical and environmental adaptive capacity requirement pushes the research intensity focus on the autonomous, sensory technology and gait planning etc. The related research works about multi-leg locomotive have been afforded a big progress recently. There are quite a few research works focus on the gait development of discontinuous terrain such as the case of a quadruped robot climbing on an inclined wall surface only by holding the protuberance with planned gait control. The study proposed an innovative path planning methodology to calculate and generate a gait for quadruped robot to walk through a river-stone terrain. The Monte Carlo searching method is proposed to generate an obstacle avoidance and shortest trajectory for foot print of each leg in the configuration workspace of the quadruped robot. And it was followed by ZMP stabilization checking rule to ensure that the robot is stable at any moment. To get with the terrain, the study also includes some typical motions task in the path generation function, such as walking aslope, climbing steps, etc. Then, every single gait data could be programmed by the above-mentioned method and softward system. The programmed gait data have been transferred into ADAMS system to verify its correctness and stabilization of the planned gait for the quadruped robot walking through a discontinuous river-stone terrain. Some problems were observed and modified by the simulation results to match more practical situation. Finally, the study also build up an autonomous quadruped system NC-BH-3 to demonstrate the usefulness and efficiency of the gait generated by proposed methodology.
Chapitres de livres sur le sujet "Planar walking robot"
Yamano, Junsei, Masaki Kurokawa, Yuki Sakai et Kenji Hashimoto. « Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning ». Dans Synergetic Cooperation Between Robots and Humans, 217–28. Cham : Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-47269-5_21.
Texte intégralVan Damme, M., R. Van Ham, B. Vanderborght, F. Daerden et D. Lefeber. « Design of a “Soft” 2-DOF Planar Pneumatic Manipulator ». Dans Climbing and Walking Robots, 559–66. Berlin, Heidelberg : Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_67.
Texte intégralM’sirdi, N. K., N. Khraief et O. Licer. « Gaits Stabilization for Planar Biped Robots Using Energetic Regulation ». Dans Climbing and Walking Robots, 611–23. Berlin, Heidelberg : Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_61.
Texte intégralHarvey, D., G. S. Virk et D. Azzi. « GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped ». Dans Climbing and Walking Robots, 577–84. Berlin, Heidelberg : Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_57.
Texte intégralSadati, Nasser, Guy A. et Kaveh Akbari. « Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization ». Dans Human-Robot Interaction. InTech, 2010. http://dx.doi.org/10.5772/8144.
Texte intégralActes de conférences sur le sujet "Planar walking robot"
Kumar, Akshay, et Vivek Sangwan. « Planar Bipedal Walking Robot with Differentially Flat Dynamics ». Dans 10th Vienna Conference on Mathematical Modelling. ARGESIM Publisher Vienna, 2022. http://dx.doi.org/10.11128/arep.17.a17203.
Texte intégralBhattacharya, Subhrajit, Sachin Chitta, Vijay Kumar et Daniel Lee. « Optimization of a Planar Quadruped Dynamic Leap ». Dans ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50072.
Texte intégralWestervelt, E. R., G. Buche et J. W. Grizzle. « Inducing dynamically stable walking in an underactuated prototype planar biped ». Dans IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1308942.
Texte intégralMartin, Anne E., et James P. Schmiedeler. « Experimental Validation of a Walking Model for Planar Bipeds With Curved Feet ». Dans ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48243.
Texte intégralAzimi, Mohsen, et M. R. Hairi Yazdi. « Energy Dissipation Rate Control for Planar Biped Walking Robot Based on the Property of Passive Dynamic Walking ». Dans ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39628.
Texte intégralHou, Wenqi, Honglei An, Taihui Zhang, Jian Wang et Hongxu Ma. « Robust walking control of a planar spring mass biped robot ». Dans 2015 International Conference on Control, Automation and Robotics (ICCAR). IEEE, 2015. http://dx.doi.org/10.1109/iccar.2015.7166007.
Texte intégralGalindo, Raul Lema, Elise Weimholt et James P. Schmiedeler. « Actuated Dual-Slip Model of Planar Slope Walking ». Dans ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97601.
Texte intégralFattah, A., et A. Fakhari. « Trajectory Planning of Walking With Different Step Lengths of a Seven-Link Biped Robot ». Dans ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28626.
Texte intégralLebastard, Vincent, Yannick Aoustin et Franck Plestan. « Observer-based control of a walking planar biped robot : Stability analysis ». Dans 2007 46th IEEE Conference on Decision and Control. IEEE, 2007. http://dx.doi.org/10.1109/cdc.2007.4434419.
Texte intégralNguyen, Tri Dung. « Stable Walking Gait Design for 5-links Underactuated Planar Biped Robot ». Dans 2022 6th International Conference on Green Technology and Sustainable Development (GTSD). IEEE, 2022. http://dx.doi.org/10.1109/gtsd54989.2022.9989190.
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