Utilize este identificador para referenciar este registo: https://hdl.handle.net/1822/15327

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dc.contributor.authorPinto, Carla M. A.-
dc.contributor.authorRocha, Diana-
dc.contributor.authorSantos, Cristina-
dc.contributor.authorMatos, Vítor-
dc.date.accessioned2011-12-16T14:22:48Z-
dc.date.available2011-12-16T14:22:48Z-
dc.date.issued2011-
dc.identifier.isbn9780735409569por
dc.identifier.issn0094-243Xpor
dc.identifier.urihttps://hdl.handle.net/1822/15327-
dc.description.abstractRobot locomotion has been a major research issue in the last decades. In particular, humanoid robotics has had a major breakthrough. The motivation for this study is that bipedal locomotion is superior to wheeled approaches on real terrain and situations where robots accompany or replace humans. Some examples are, on the development of human assisting device, such as prosthetics, orthotics, and devices for rehabilitation, rescue of wounded troops, help at the office, help as maidens, accompany and assist elderly people, amongst others. Generating trajectories online for these robots is a hard process, that includes different types of movements, i.e., distinct motor primitives. In this paper, we consider two motor primitives: rhythmic and discrete.We study the effect on a bipeds robots’ gaits of inserting the discrete part as an offset of the rhythmic primitive, in synaptic and diffusive couplings. Numerical results show that amplitude and frequency of the periodic solution, corresponding to the gait run are almost constant in all cases studied here.por
dc.description.sponsorship(undefined)por
dc.language.isoengpor
dc.publisherAIP Publishingpor
dc.rightsopenAccesspor
dc.subjectStabilitypor
dc.subjectCPGpor
dc.subjectModolar locomotionpor
dc.subjectRhythmic primitivepor
dc.subjectDiscrete primitivepor
dc.subjectmodular locomotionpor
dc.titleA modular approach for trajectory generation in biped robotspor
dc.typeconferencePaper-
dc.peerreviewedyespor
dc.relation.publisherversionhttp://link.aip.org/link/doi/10.1063/1.3636773?ver=pdfcov-
sdum.publicationstatuspublishedpor
oaire.citationConferenceDate19 - 25 Set. 2011por
oaire.citationStartPage495por
oaire.citationEndPage499por
oaire.citationConferencePlaceHalkidiki, Greecepor
oaire.citationTitleNumerical Analysis and Applied Mathematics ICNAAM 2011por
oaire.citationVolume1389por
dc.identifier.doi10.1063/1.3636773por
sdum.journalAIP Conference Proceedingspor
sdum.conferencePublicationNumerical Analysis and Applied Mathematics ICNAAM 2011por
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