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dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorGonzález de Santos, Pablo-
dc.date.accessioned2008-10-22T09:45:06Z-
dc.date.available2008-10-22T09:45:06Z-
dc.date.issued2003-
dc.identifier.citationInternational Conference on Advanced Robotics (11ª. 2003. Coimbra, Portugal)en_US
dc.identifier.citationProceedingsen_US
dc.identifier.isbn972-96889-8-2-
dc.identifier.urihttp://hdl.handle.net/10261/7944-
dc.description.abstractPrevious 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.en_US
dc.description.sponsorshipSponsored by Institute of Systems and Robotics (ISR Coimbra, IEEE Portuguese Section ; technical co-sponsors IEEE Robotics and Automation Society, [et al.]en_US
dc.format.extent559819 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherUniversidade de Coimbraen_US
dc.relation.ispartofseriesICAR'2003en_US
dc.rightsopenAccessen_US
dc.titleA New Dynamic Energy Stability Margin for Walking Machinesen_US
dc.typecomunicación de congresoen_US
dc.description.peerreviewedPeer revieweden_US
Appears in Collections:(IAI) Comunicaciones congresos
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