{"title":"行走机器的原型:运动合成","authors":"T. Zielińska","doi":"10.1109/ROMOCO.2002.1177089","DOIUrl":null,"url":null,"abstract":"The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Prototypes of walking machines: motion synthesis\",\"authors\":\"T. Zielińska\",\"doi\":\"10.1109/ROMOCO.2002.1177089\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.\",\"PeriodicalId\":213750,\"journal\":{\"name\":\"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-11-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMOCO.2002.1177089\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2002.1177089","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.
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