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Compact analysis of 3D bipedal gait using geometric dynamics of simplified models

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4 Author(s)
Stramigioli, S. ; Univ. of Twente, Enschede, Netherlands ; Duindam, Vincent ; van Oort, G. ; Goswami, A.

The large number of degrees of freedom in legged robots give rise to complicated dynamics equations. Analyzing these equations or using them for control can therefore be a difficult and non-intuitive task. A simplification of the complex multi-body dynamics can be achieved by instantaneously reducing it to an equivalent single inertial entity called the locked inertia or the composite rigid body inertia.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009