КФУ. Карточка публикации. Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model

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GENERATION OF MOTION PATTERNS WITH TURNS FOR BIPEDAL WALKING ROBOT BASED ON ACTUATED 3D DUAL-SLIP MODEL

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2018

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Khusainov R., Mamedov S., Klimchik A., Magid E. Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model // 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR) (Saratov, Russia; 8-10 October 2018) - p. 69-71.

Аннотация

In this paper we put forward a method for generating motion patterns for bipedal walking robots based on the actuated 3D Dual-SLIP model. In the literature the actuated 3D Dual-SLIP model was used for motion without double support, i.e. running, planar walking or straight forward movement. In this work we demonstrate how motion patterns with turns can be obtained using linear quadratic controller.

Ключевые слова

3D Dual-SLIP, bipedal walking, LQR, motion pattern

Название журнала

2018 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics, DCNAIR 2018

URL

https://ieeexplore.ieee.org/document/8589051

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https://repository.kpfu.ru/?p_id=196695

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Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Khusainov R., Mamedov S., Klimchik A., Magid E. Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model // 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR) (Saratov, Russia; 8-10 October 2018) - p. 69-71.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=196695	ru_RU
dc.description.abstract	2018 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics, DCNAIR 2018	ru_RU
dc.description.abstract	In this paper we put forward a method for generating motion patterns for bipedal walking robots based on the actuated 3D Dual-SLIP model. In the literature the actuated 3D Dual-SLIP model was used for motion without double support, i.e. running, planar walking or straight forward movement. In this work we demonstrate how motion patterns with turns can be obtained using linear quadratic controller.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	3D Dual-SLIP	ru_RU
dc.subject	bipedal walking	ru_RU
dc.subject	LQR	ru_RU
dc.subject	motion pattern	ru_RU
dc.title	Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU