Here, we consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed virtual coupling control laws. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. And we also prove some walking rules maybe true.
Virtual Coupling Control Method for Robotic Gait
Applied Mechanics and Materials ; 278-280 ; 629-632
2013-01-11
4 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Energy , Virtual , Biped Robot , Optimization
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