Postural stability in symmetrical gaits

• Autorzy: Zielińska T. , Trojnacki M.
• Języki publikacji: EN

Abstrakty

EN

In this paper the method of stability analysis of dynamic symmetrical gaits is discussed. The problem of dynamic postural equilibrium, taking into account the role of compliant feet, is solved. The equilibrium conditions are split between the foot attachment points and the points within the foot-end area. The present method is useful for motion synthesis, taking into account robot parameters. It also helps in the robot foot design. As an illustrative example a four-legged diagonal gait is considered. The theoretical results were verified by implementing and observing the diagonal gait in four-legged machine with and without feet.

Słowa kluczowe

EN

walking machines; gait stability; gait synthesis; diagonal dynamic gait

PL

maszyna krocząca; stabilność chodu; synteza chodu; chód dynamiczny

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2009
• Tom: Vol. 11, nr 2
• Strony: 57--64
• Opis fizyczny: Bibliogr. 23 poz., rys.

Twórcy

autor

Zielińska T.

autor

Trojnacki M.

• Institute of Aeronautics and Applied Mechanics (ITLiMS), Warsaw University of Technology,

Bibliografia

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