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| Naji, M. |
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| Motta, Antonella |
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| Aletan, Dirar |
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| Mohamed, Tarek |
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| Ertürk, Emre |
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| Taccardi, Nicola |
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| Petrov, R. H. | Madrid |
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| Casati, R. |
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| Kočí, Jan | Prague |
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| Kalteremidou, Kalliopi-Artemi | Brussels |
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| Azam, Siraj |
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| Ospanova, Alyiya |
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| Ali, M. A. |
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| Rančić, M. |
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| Ollier, Nadège |
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| Azevedo, Nuno Monteiro |
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| Landes, Michael |
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| Rignanese, Gian-Marco |
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Stramigioli, Stefano
University of Twente
in Cooperation with on an Cooperation-Score of 37%
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document
Compact analysis of 3D bipedal gait using geometric dynamics of simplified models
Abstract
The large number of degrees of freedom in legged robots give rise to complicated dynamics equations. Analyzing these equations or using them for control can therefore be a difficult and non-intuitive task. A simplification of the complex multi-body dynamics can be achieved by instantaneously re- ducing it to an equivalent single inertial entity called the locked inertia or the composite rigid body inertia. In this paper, we adopt the methods of geometric dynamics to analyze the gait using the locked inertia of the robot. The analysis includes the rolling of a biped on a 3D rigid foot and 3D impacts. An example of numerical optimization of foot shape parameters is shown. Our long-term objective is to develop the theoretical frame- work and to provide the necessary tools for systematic analysis, design, and control of efficient biped robots.