A mathematical model of collisions in passive dynamic walking of a compass-like biped walker with an angle limiter.
Yasushi IwataniJialun ZhangTetsuya KinugasaPublished in: SICE (2023)
Keyphrases
- mathematical model
- control strategy
- limit cycle
- mathematical models
- biped robot
- ant colony algorithm
- control scheme
- biped walking
- operating conditions
- humanoid robot
- control loop
- simulation model
- fuzzy controller
- dynamic environments
- feasible solution
- control law
- steady state
- neural model
- ant colony optimization
- optimization algorithm