English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/7944
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 New Dynamic Energy Stability Margin for Walking Machines

AutorGarcía Armada, Elena ; González de Santos, Pablo
Fecha de publicación2003
EditorUniversidade de Coimbra
CitaciónInternational Conference on Advanced Robotics (11ª. 2003. Coimbra, Portugal)
Proceedings
SerieICAR'2003
ResumenPrevious work on the classification of stability criteria for walking machines reveals that there is no stability margin that accurately predicts robot stability when inertial and manipulation effects are significant. The use of an improper stability criterion yields unavoidable errors in the control of walking robots. Moreover, inertial and manipulation effects usually appear in the motion of these robots when the machines are used for services or industrial applications. A new stability margin that accurately measures robot stability considering dynamic effects arising during motion is proposed in this paper. The new stability margin is the optimum from the energy point of view. Numerical comparison has been conducted to support the margin’s suitability.
URIhttp://hdl.handle.net/10261/7944
ISBN972-96889-8-2
Aparece en las colecciones: (IAI) Comunicaciones congresos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
ICAR03_garcia.pdf546,7 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.