Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7056
Título: Gait Analysis of Natural and Artificial Walking Systems
Autor: Silva, Manuel F.
Machado, J. A. Tenreiro
Lopes, António M.
Data: 2004
Relatório da Série N.º: Intelligent systems at the Service of Mankind;Vol. 1
Resumo: This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.
URI: http://hdl.handle.net/10400.22/7056
ISBN: 3-935798-25-3
Aparece nas colecções:ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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