کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
492873 | 721660 | 2014 | 7 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Towards Passive Turning in Biped Walkers
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
علوم کامپیوتر (عمومی)
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چکیده انگلیسی
The ability to turn is an essential feature for biped walkers to move around obstacles. This study is aimed at extending passive walking concept for curved walking and turning to generate more natural and effective motion. Hence three-dimensional (3D) motion of rimless spoked-wheel as the simplest walking model on a slope surface and about a general vertical fixed coordinate system has been analyzed. Several simulation results has been presented and shown that there are various passive turning motions with asymptotical stability for this system. In addition, the value of the passive turning is shown to be strictly concerned to the value of the initial perturbed condition, for instance, to the initial inclination of the wheel.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Procedia Technology - Volume 12, 2014, Pages 98-104
Journal: Procedia Technology - Volume 12, 2014, Pages 98-104