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- W4286306178 abstract "In this paper, we propose a model of a bipedal robot for achieving ultrahigh-speed strict stealth walking on a zero-friction floating island by controlling the vertical and horizontal ground reaction forces simultaneously. We consider a compass-like bipedal robot has an upper body with a telescoping joint and a flywheel. First, we establish the dynamics model of the system, including the equations of motion of the bipedal robot and floating island. Second, we design a control input to make the stance leg follow a cosinusoidal trajectory whereas the hip joint angle follows a fifth-order function of time and maintains the vertical and horizontal positions of the center of mass (COM) at a constant value. Through numerical analysis, it is shown that this model of the robot could walk on a slipper vibrating surface without sliding and don’t need to know the friction coefficient of the ground. Furthermore, the upper body which behaves like zero dynamics could get stable by controlling the COM of the robot." @default.
- W4286306178 created "2022-07-21" @default.
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- W4286306178 date "2022-05-04" @default.
- W4286306178 modified "2023-10-18" @default.
- W4286306178 title "Ultrahigh-speed Stealth Walking on Zero-friction Floating Island Based on Horizontal and Vertical Ground Reaction Force Control" @default.
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- W4286306178 doi "https://doi.org/10.23919/ascc56756.2022.9828038" @default.
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