Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-4483
Full metadata record
DC FieldValueLanguage
dc.contributor.authorBlajer, Wojciechde
dc.contributor.authorSchiehlen, Wernerde
dc.date.accessioned2012-09-20de
dc.date.accessioned2016-03-31T08:16:57Z-
dc.date.available2012-09-20de
dc.date.available2016-03-31T08:16:57Z-
dc.date.issued1992de
dc.identifier.other372142133de
dc.identifier.urihttp://nbn-resolving.de/urn:nbn:de:bsz:93-opus-77469de
dc.identifier.urihttp://elib.uni-stuttgart.de/handle/11682/4500-
dc.identifier.urihttp://dx.doi.org/10.18419/opus-4483-
dc.description.abstractAn approach for modelling a biped impactless walk and for determining the control ensuring the realization of the reference motion is proposed. In order to avoid impacts, botb the motion of the biped and some ground reactions on it are specified appropriately, yielding a combined motion and force control ploblem. A concept is given for synthesizing a nominal (feedforward) control and and for designing a feedback controller. Finally, a short discussion on effective formulation of motion specifications and on an on-line control concept is provided. The impactless planar walking of a seven-link biped serves as an illustration.en
dc.language.isoende
dc.rightsinfo:eu-repo/semantics/openAccessde
dc.subject.classificationSchreitroboter , Mehrkörpersystemde
dc.subject.ddc620de
dc.titleA concept for motion control of biped impactless walken
dc.typeconferenceObjectde
dc.date.updated2013-01-25de
ubs.fakultaetFakultät Konstruktions-, Produktions- und Fahrzeugtechnikde
ubs.institutInstitut für Technische und Numerische Mechanikde
ubs.opusid7746de
ubs.publikation.sourceSeto, Kazuto (Hrsg.): First International Conference on Motion and Vibration Control. 1. Yokohama, 1992, S. 505-510de
ubs.publikation.typKonferenzbeitragde
Appears in Collections:07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

Files in This Item:
File Description SizeFormat 
schi1.pdf1,23 MBAdobe PDFView/Open


Items in OPUS are protected by copyright, with all rights reserved, unless otherwise indicated.