论文信息 - VIRTUAL FORCES BASED LOCOMOTION STRATEGY AND ENERGY BALANCE ANALYSIS

VIRTUAL FORCES BASED LOCOMOTION STRATEGY AND ENERGY BALANCE ANALYSIS

Abstract This paper presents some control methodologies in the field of biped locomotion. In particular a nine degrees of freedom planar biped robot has been considered. Some gait and posture control strategies have been developed using a simple but efficient force and position control scheme, based on a reinterpretation the Virtual Model Control approach. Finally some energy based gait analysis have been carried out during the motion.

Giovanni Muscato | Giacomo Spampinato | M. Costa

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