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Gait planning for a hopping robot
RWTH Aachen University, Aachen, Nordrhein-Westfalen.
Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
Number of Authors: 22016 (English)In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 34, no 8, p. 1822-1840Article in journal (Refereed) Published
Abstract [en]

An optimization model is developed in this paper for the joint trajectories of a hopping robot with a four-bar linkage leg. The dynamic behaviour of the one-legged robot is investigated during the stance and swing phases, and their impacts on gait planning are analysed. Certain constraints characterizing the continuous and cyclic motion of the robot are obtained. The optimization model is solved for the minimum torque and maximum velocity objective functions separately, and the results are compared with those in nature.

Place, publisher, year, edition, pages
2016. Vol. 34, no 8, p. 1822-1840
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-8780DOI: 10.1017/S0263574714002598Local ID: 750894d9-9598-403d-9002-e143be43bfc6OAI: oai:DiVA.org:ltu-8780DiVA, id: diva2:981718
Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-12-15Bibliographically approved

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Emami, Reza

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