Time optimal positioning control of a quadruped robot for trot gait
A design method of time-optimal trajectory of quadruped robots from an initial position to a target position is developed for trot gait. The designed trajectory consists of three phases, acceleration phase, steady walk phase and deceleration phase. The time-optimal trajectory is designed in each pha...
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| Principais autores: | , |
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| Formato: | Artigo |
| Idioma: | Japonês |
| Publicado em: |
The Japan Society of Mechanical Engineers
2017-04-01
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| coleção: | Nihon Kikai Gakkai ronbunshu |
| Assuntos: | |
| Acesso em linha: | https://www.jstage.jst.go.jp/article/transjsme/83/849/83_17-00017/_pdf/-char/en |
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