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Título

Fuzzy optimization of foot-trajectory profiles in walking machines

AutorGonzález de Santos, Pablo
Palabras claveWalking Machines
Legged Locomotion
Fuzzy-Logic Based Systems
Trajectory Generation
Fecha de publicación2001
EditorEUSFLAT Conference
CitaciónEUSFLAT Conference, 2001: Leicester, UK, p. 494-497
ResumenLeg dynamics obstructs the trajectory following at high speed, thus being responsible of tracking errors and system instability. The election of trapezoidal or parabolic foot velocity profiles can deal with leg dynamic effects. However, the effects of leg dynamics are different for each foot trajectory. Therefore, to optimize foot speed, the foot velocity profile should adjust to leg dynamics for each trajectory in the whole leg workspace. The herein proposed method for trajectory generation is suitable for achieving accurate, smooth and fast foot movements, increasing leg speed as much as leg dynamics allows for each trajectory.
URIhttp://hdl.handle.net/10261/12754
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