Humanoid gait optimization resorting to an improved simulation model
The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for those robots is using simulation and optimization techn...
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| Other Authors: | , , |
| Format: | article |
| Language: | eng |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10198/8457 |
| Country: | Portugal |
| Oai: | oai:bibliotecadigital.ipb.pt:10198/8457 |