English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Fundamental principles and recent methods for investigating the non- linear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of produc- ing dynamically stable gaits. The generation of fast walking or running motions require methods and algorithms adept at handling the nonlinear dynamical ef- fects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control package, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits with particular reference to the problems arising in soccer-playing tasks encountered at the RoboCup where our team, the Darmstadt Dribbling Dackels, participates as part of the German Team in the Sony Legged Robot League. RoboCup and Dynamics of Legged Robot Motion. The RoboCup scenario of soccer playing legged robots represents an extraordinary challenge for the design, control and stability of bipedal and quadrupedal robots. In a game, fast motions are desired which preserve the robot's stability and can be adapted in real-time to the quickly changing enviroment. Existing design and control strategies for bipedal and quadrupedal robots can only meet these challenges to a small extent. During the nineties, both trajectory planning methods relying on nonlinear robot dynamics and model-based control methods have evolved into the state-of-the-art for developing and implementing fast and accurate motions for industrial manipulators. Successful control of the nonlinear robot dynamics is also the key to fast and stable motions of bipedal and quadrupedal robots. Many subproblems remain unsolved in fulfilling this objective. This paper contributes to this ambitious goal by discussing fun- damental principles and recent methods in the modeling, simulation, optimization and control of legged robot dynamics. Nonlinear Dynamics of Legged Robot Motion. A precise modeling of fast moving legged locomotion systems requires high dimensional nonlinear multibody dynamics which can accurately describe the nonlinear relationships existing between all linear and rotational forces acting at each joint and the feet on the one hand and the position,

The Role of Motion Dynamics in the Design, Control and Stability of Bipedal and Quadrupedal Robots