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Article Dans Une Revue Multibody System Dynamics Année : 2013

3D Walking Biped: Optimal Swing of the Arms

Résumé

A ballistic walking gait is designed for a 3D biped with two identical two-link legs, a torso, and two identical one-link arms. In the single support phase, the biped moves due to the existence of a momentum, produced mechanically, without applying active torques in the inter-link joints. This biped is controlled with impulsive torques at the instantaneous double support to obtain a cyclic gait. The impulsive torques are applied in the seven inter-link joints. Then an infinity of solutions exists to find the impulsive torques. An effort cost functional of these impulsive torques is minimized to determine a unique solution. Numerical results show that for a given time period and a given length of the walking gait step, there is an optimal swinging amplitude of the arms. For this optimal motion of the arms, the cost functional is minimum.
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Dates et versions

hal-00839761 , version 1 (30-06-2013)

Identifiants

Citer

Yannick Aoustin, A. M. Formalskii. 3D Walking Biped: Optimal Swing of the Arms. Multibody System Dynamics, 2013, pp.10.1007/s11044-013-9378-3. ⟨10.1007/s11044-013-9378-3⟩. ⟨hal-00839761⟩
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