Abstract
In this paper, we consider the dynamical behavior and the control of a two legged Walking Machine. Special investigation is done in the evaluation of the equations of motion. Thus, for obtaining the accelerations of such a tree structured multi-body system, an O(n) algorithm is presented, enhancing the numerical stability. To fulfill the aim of modeling a gaitcycle, contact is opened and closed periodically. Therefore the O(n) algorithm is enhanced for this case. A controller is shown, that balances the robot when doing such highly dynamically processes like shooting a soccer penalty. Simulations and experimental results are presented.
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Gattringer, H., Bremer, H. (2005). A Penalty Shooting Walking Machine. In: Ulbrich, H., GÜnthner, W. (eds) IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures. Solid Mechanics and its Applications, vol 130. Springer, Dordrecht. https://doi.org/10.1007/1-4020-4161-6_13
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DOI: https://doi.org/10.1007/1-4020-4161-6_13
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-4160-0
Online ISBN: 978-1-4020-4161-7
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