IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites

Cart (Loading....) | Create Account | 

Close category search window
Author Searchbeta |  Advanced Search  |  Preferences |  Search Tips  |  More Search Options  
 
Browse Conference Publications > Robotics and Automation, 2006 ... Help

Dynamics simulation for a biped robot: modeling and experimental verification

Full Text Sign-In or Purchase

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing! close button
puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Buschmann, T. ; Inst. of Appl. Mech., Technische Univ. Munchen, Garching ; Lohmeier, S. ; Ulbrich, H. ; Pfeiffer, F.

Dynamics simulation is a valuable tool for biped robot hardware and controller design. Due to the complexity of biped walking robots, simulation times can be quite high. It is therefore important to identify the key components in modeling the system so that the phenomena of interest can be correctly predicted at a reasonable numerical cost. In this paper a detailed and a reduced simulation of the biped robot JOHNNIE are presented and results are compared with experimental data. The comparison shows that results for both models correctly predict global dynamics of the system, while some phenomena are only captured by the more complex model

Published in:
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference: 15-19 May 2006

Page(s):
2673 - 2678
ISSN :
1050-4729
Print ISBN:
0-7803-9505-0
INSPEC Accession Number:
9120177
Conference Location :
Orlando, FL
Digital Object Identifier :
10.1109/ROBOT.2006.1642105
Product Type:
Conference Publications

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.