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Performance Issues in Biped Walking Robots

dc.contributor.authorSilva, Filipe M.
dc.contributor.authorMachado, J. A. Tenreiro
dc.date.accessioned2015-12-21T12:21:20Z
dc.date.available2015-12-21T12:21:20Z
dc.date.issued1998
dc.description.abstractThis 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.pt_PT
dc.identifier.isbn9789814021340
dc.identifier.urihttp://hdl.handle.net/10400.22/7197
dc.language.isoengpt_PT
dc.publisherSpringerpt_PT
dc.subjectBiped walking robotspt_PT
dc.titlePerformance Issues in Biped Walking Robotspt_PT
dc.typebook part
dspace.entity.typePublication
oaire.citation.endPage281pt_PT
oaire.citation.startPage270pt_PT
oaire.citation.titleRecent Advances in Mechatronicspt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsclosedAccesspt_PT
rcaap.typebookPartpt_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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