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Stability and smoothness improvements for an underactuated biped with a tail

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dc.contributor.author Berenguer Císcar, Fernando Juan
dc.contributor.author Monasterio-Huelin, Félix
dc.date.accessioned 2016-07-20T16:03:42Z
dc.date.available 2016-07-20T16:03:42Z
dc.date.issued 2007
dc.identifier.citation Berenguer, F. J., & Monasterio-Huelin, F. (2007). Stability and smoothness improvements for an underactuated biped with a tail. In 2007 IEEE International Symposium on Industrial Electronics (pp. 2083-2088). IEEE. spa
dc.identifier.isbn 9781424407545
dc.identifier.uri http://hdl.handle.net/11268/5425
dc.description.abstract In this work we present an important improvement in our model of biped mechanism that allows the elevation in a stable form of the system's feet during the execution of trajectories. This improvement allows for simpler trajectory planning and also facilitates the reduction of losses in the collision between the feet and the ground. On the other hand, we add to the design phase the study of the displacement of the Zero Moment Point, as well as the variation of the normal component of the ground reaction force during the motion of the system. Consideration of the above mentioned magnitudes in the design phase allows us to design the necessary support area of the system. These magnitudes will be used as a smoothness criterion of the ground contact to facilitate the selection of robot parameters and trajectories. spa
dc.description.sponsorship SIN FINANCIACIÓN spa
dc.language.iso eng spa
dc.publisher IEEE spa
dc.title Stability and smoothness improvements for an underactuated biped with a tail spa
dc.type conferenceObject spa
dc.description.impact 0.195 SJR (2007) Q3, 109/263 Control and systems engineering, 374/882 Electrical and electronic engineering spa
dc.identifier.doi 10.1109/ISIE.2007.4374929
dc.rights.accessRights closedAccess en
dc.subject.uem Robots móviles spa
dc.subject.unesco Robótica spa
dc.description.filiation UEM spa
dc.peerreviewed Si spa


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