Modeling and Optimal Control for the Somersault of a Planar Biped Robot
碩士 === 中興大學 === 機械工程學系所 === 95 === Considering the somersault robot model suggested by Mombaur et al.[11], this thesis derives the robot’s dynamic system models both for its flight phase and contact phase via Lagrange’s equations, and the velocity transition equation during the single-foot contact...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/25510579049490576674 |