• DocumentCode
    3701369
  • Title

    Finite state machines in human-like walking control

  • Author

    Alexei Beloshapko;Vladislav Bubnov;Viktor Latypov

  • Author_Institution
    St. Petersburg State University, 7/9 Universitetskaya nab., 199034, Russia
  • fYear
    2015
  • Firstpage
    86
  • Lastpage
    87
  • Abstract
    An automatic approach to derivation of Lagrange equations of motion is proposed. The software for construction of numerical models for different working modes of the mechanism is developed. The presented system is applied to the problem of planar walking pattern generation for bipedal mechanisms.
  • Keywords
    "Mathematical model","Legged locomotion","Digital signal processing","Robot kinematics","Automata","Dynamics"
  • Publisher
    ieee
  • Conference_Titel
    "Stability and Control Processes" in Memory of V.I. Zubov (SCP), 2015 International Conference
  • Type

    conf

  • DOI
    10.1109/SCP.2015.7342070
  • Filename
    7342070
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3701369