Based on the Foot–Ground Contact Mechanics Model and Velocity Planning Buffer Control
In order to reduce the impact of the leg joint motors and body electric devices of a falling robot, active flexible control based on force and velocity is proposed. A velocity planning buffer method based on a virtual model is proposed. We established a mechanical model of leg and ground contact. Th...
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| Principais autores: | , , , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
MDPI AG
2023-01-01
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| coleção: | Robotics |
| Assuntos: | |
| Acesso em linha: | https://www.mdpi.com/2218-6581/12/1/17 |
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