Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7197
Título: Performance Issues in Biped Walking Robots
Autor: Silva, Filipe M.
Machado, J. A. Tenreiro
Palavras-chave: Biped walking robots
Data: 1998
Editora: Springer
Resumo: This paper presents the dynamic analysis of robotic biped systems. The main goal is to gain insight into the phenomena of walking and to evaluate its performance. In this study, we propose three methods to quantitatively measure the dynamic efficiency of walking: energy analysis, perturbation analysis and lowpass frequency analysis. In order to accomplish this goal, the prescribed motion of the biped is completely characterised in terms of a set of locomotion variables, namely: step lenght, hip height, hip ripple, hip offset, foot clearance and link lenghts. based on these variables and their influence, the performance measures aer discussed and the results compared with those observed in nature.
URI: http://hdl.handle.net/10400.22/7197
ISBN: 9789814021340
Aparece nas colecções:ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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