Control of Torque Distribution in Biped Systems during Double-Support Phase
Volume: 26, Issue: 9, Pages: 1066 - 1073
Published: Jan 1, 1990
Abstract
A force distribution in locomotion systems containing closed kinematic chains is a difficult problem since a degree of freedom of the systems is reduced by certain holonomic constraints. Control of the force distribution in biped locomotion robot during double-support phase is discussed in this paper.Inequality constraints on reaction forces are considered, in addition to equality constraints which specify desired trajectories of some joints of...
Paper Details
Title
Control of Torque Distribution in Biped Systems during Double-Support Phase
Published Date
Jan 1, 1990
Volume
26
Issue
9
Pages
1066 - 1073
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