Please use this identifier to cite or link to this item: http://repositorio.unitau.br/jspui/handle/20.500.11874/1777
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dc.contributor.authorGonçalves, João Boscopt_BR
dc.contributor.authorZampieri D.E.pt_BR
dc.date.accessioned2019-09-12T16:25:56Z-
dc.date.available2019-09-12T16:25:56Z-
dc.date.issued2006-
dc.citation.volume28pt_BR
dc.citation.issue4pt_BR
dc.citation.spage453-
dc.citation.epage460-
dc.identifier.doi10.1590/S1678-58782006000400010pt_BR
dc.identifier.issn16785878-
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-33847731481&doi=10.1590%2fS1678-58782006000400010&partnerID=40&md5=28edbb9291d7478299903eba158b45fd-
dc.identifier.urihttp://repositorio.unitau.br/jspui/handle/20.500.11874/1777-
dc.description.abstractThe main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates online the conditions of trajectory for the trunk, from the evolution of the gait, with the objective to reduce the magnitude of the resultant force and moment. We consider that this scheme is a new and interesting approach to generate online the trajectory for the trunk, giving so reflexes for the bipedwalking robot. Copyright © 2006 by ABCM.en
dc.description.provenanceMade available in DSpace on 2019-09-12T16:25:56Z (GMT). No. of bitstreams: 0 Previous issue date: 2006en
dc.languageInglêspt_BR
dc.publisherSpringer Verlag-
dc.relation.ispartofJournal of the Brazilian Society of Mechanical Sciences and Engineering-
dc.rightsAcesso Abertopt_BR
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.sourceScopuspt_BR
dc.subject.otherBiped-walking roboten
dc.subject.otherCenter of pressureen
dc.subject.otherDynamic gaiten
dc.subject.otherZero moment pointen
dc.subject.otherBiped locomotionen
dc.subject.otherIntegrated controlen
dc.subject.otherMotion controlen
dc.subject.otherMotion planningen
dc.subject.otherTrajectoriesen
dc.subject.otherBiped robot machineen
dc.subject.otherIntegrated control systemsen
dc.subject.otherZero moment pointen
dc.subject.otherMobile robotsen
dc.titleAn integrated control for a biped walking roboten
dc.typeArtigo de Periódicopt_BR
dc.description.affiliationGonçalves, J.B., University of Taubate - UNITAU, Department of Electrical Engineering, 12060-440 Taubaté, SP, Brazil-
dc.description.affiliationZampieri, D.E., ABCM, Brazil, State University of Campinas - UNICAMP, Faculty of Mechanical Engineering, CP.6122, 13083-970 Campinas, SP, Brazil-
dc.identifier.scopus2-s2.0-33847731481-
dc.contributor.scopus16030826000pt_BR
dc.contributor.scopus6602840741pt_BR
Appears in Collections:Artigos de Periódicos

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