首页|Reports Outline Androids Research from Indian Institute of Technology (Gait Gene ration of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on S pherical Inverted Pendulum Model)
Reports Outline Androids Research from Indian Institute of Technology (Gait Gene ration of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on S pherical Inverted Pendulum Model)
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2024 OCT 03 (NewsRx)-By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in androids. According to news reporting originating from Uttar Pradesh, India, by NewsRx correspondents, research stated, "Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction an d terrain deformation have to be included in the dynamics."Our news journalists obtained a quote from the research from Indian Institute of Technology: "To simplify the dynamics of walk on deformable terrain, we used a spherical inverted pendulum (SIP) to represent the single support phase, in whic h the effect of terrain deformation is represented by a spring and damper contac t model. The impact model for leg transition is derived from angular momentum co nservation. In order to minimize the energy loss due to impact, the double suppo rt phase is modeled as a suspended pendulum. Based on the motion of the SIP mode l, the hip and leg trajectories of a 10-degreeof- freedom (DOF) humanoid robot a re generated. The joint trajectories of the robot are obtained from inverse kine matics. The motion of the center of mass is analyzed by inverse dynamics of a fl oating-base robot."
Indian Institute of TechnologyUttar Pr adeshIndiaAsiaEmerging TechnologiesMachine LearningRobotRobotics
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