학술논문
Mathematical model of a multi-segment, multi-joint biped: summary and observations
Document Type
Conference
Author
Source
Proceedings. 1991 IEEE International Conference on Robotics and Automation Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on. :2098-2105 vol.3 1991
Subject
Language
Abstract
The interaction of a biped and the external force of gravity is predicted by applying Newton's equation to a point-mass model. Numerical integration predicts angles and angular velocities over time. Two modes of calculation are necessary, depending on whether both feet are in contact with the ground or only one. Transition equations to transfer between these two modes are based on assuming an inelastic collision at the moment of foot contact.ETX