Biped Locomotion Control with Torso Based on Passive-Dynamic Walking
碩士 === 國立中興大學 === 機械工程學系所 === 98 === In this thesis, the hybrid dynamics model for a passive biped walking robot with torso along a shallow slope is first derived. The model includes the swing-phase dynamics equations derived using the Lagrange’s equations, and the impact-phase angular velocity conv...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2010
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/35779786804540739932 |