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- W2357187263 abstract "In order to effectually validate the ability of biped dynamic walking for the gorilla robot GOROBOT, based on dynamics of three-dimensional inverted pendulum model in the single leg support phase, the COG (Center Of Gravity)’s trajectory equation of the robot was educed through the law of the ZMP trajectory reasonably being defined as a cosine curve. Furthermore, spline interpolation function was used to ensure the acceleration continuity of the robot’s COG. Therefore, the method was proposed to generate biped dynamic walking pattern based on the variable ZMP. Finally, under virtual physical environment, biped dynamic walking of 3-D virtual prototype GOROBOT was realized. By the simulation, correctness and rationality of the method was validated, and the ability of the actual robot’s biped dynamic walking was also confirmed." @default.
- W2357187263 created "2016-06-24" @default.
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- W2357187263 date "2007-01-01" @default.
- W2357187263 modified "2023-09-23" @default.
- W2357187263 title "Simulation of Biped Dynamic Walking for Gorilla Robot GOROBOT on Basis of Variable ZMP" @default.
- W2357187263 hasPublicationYear "2007" @default.
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