Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/8219
COMPARTIR / EXPORTAR:
SHARE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Título: | A Comparative Study of Stability Margins for Walking Machines |
Autor: | García Armada, Elena CSIC ORCID ; Estremera, Joaquín; González de Santos, Pablo | Palabras clave: | Walking robot Stability margins static stability dynamic stability |
Fecha de publicación: | 2002 | Editor: | Cambridge University Press | Citación: | Robotica 20(6)595-606, 2002 | Resumen: | Several static and dynamic stability criteria have been defined in the course of walking robot history. Nevertheless, different applications may require different criteria and, to the authors' best knowledge, there is no qualitative classification of such stability measurements. Using the wring stability criterion to control a robot gait may prevent the task from succeeding. Furthermore, if the optimum criterion is found, the robot gait can also be optimized. In this paper, the stability criteria that have been applied to walking robots with at least four legs are examined in terms of their stability margins in different static and dynamic situations. As a result, a qualitative classification of stability criteria for walking machines is proposed so that the proper criterion can be chosen for every desired application. | Versión del editor: | http://journals.cambridge.org/action/displayAbstract;jsessionid=4D7759C12DAE2D62BC879C1DDAE22D6B.tomcat1?fromPage=online&aid=133609 | URI: | http://hdl.handle.net/10261/8219 | ISSN: | 0263-5747 |
Aparece en las colecciones: | (IAI) Artículos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
egarcia.pdf | 403,33 kB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
Page view(s)
397
checked on 28-mar-2024
Download(s)
477
checked on 28-mar-2024
Google ScholarTM
Check
NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.