English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/7940
COMPARTIR / IMPACTO:
Estadísticas
logo share SHARE   Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:
Título

A mathematical model for real-time control of the SILO4 leg

AutorGarcía Armada, Elena ; González de Santos, Pablo
Fecha de publicación2000
EditorProfessional Engineering Publishing
CitaciónInternational Conference on Climbing and Walking Robots (3ª 2-4 October. Madrid),pp. 447-460
SerieCLAWAR 2000
ResumenLeg dynamics are often ignored in the real-time control of walking robots. The high gear reduction on actuators are the main reason. However, the use of gear reduction high enough to neglect leg dynamics yields additional non-desired effects. In order to make dynamic equations reflect the reality of the physical system, it is important to model the most important effects acting on it. In this paper we analyse the dynamics of the SILO4 leg, finding out the main sources of forces affecting the system. Then, we present a simple mathematical model that reflects the reality of the physical system which can be used by a real-time dynamic control system.
URIhttp://hdl.handle.net/10261/7940
ISBN1-86058-268-0
Aparece en las colecciones: (IAI) Comunicaciones congresos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
clawar2000.pdf125,24 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 


NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.