학술논문
Discussion on limitations for the 3D fast biped walking
Document Type
Conference
Author
Source
9th IEEE International Workshop on Advanced Motion Control, 2006. Advanced Motion Control, 2006. 9th IEEE International Workshop on. :397-402 2006
Subject
Language
ISSN
1943-6572
1943-6580
1943-6580
Abstract
The maximum bipedal walking speed is limited by the several factors, such as ZMP criterion, the yaw axis moment slipping, torque saturation of actuators and so on. This paper reveals the theoretical limitations for the fast walking, and the theoretical predictions are partially verified by simulations and experiments