| Revista: | Journal of the Brazilian Society of Mechanical Sciences and Engineering |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000312339 |
| ISSN: | 1678-5878 |
| Autores: | Goncalves, Joao B1 Zampieri, Douglas Eduardo2 |
| Instituciones: | 1Universidade de Taubate, Departamento de Engenharia Eletrica, Taubate, Sao Paulo. Brasil 2Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica, Campinas, Sao Paulo. Brasil |
| Año: | 2006 |
| Periodo: | Oct-Dic |
| Volumen: | 28 |
| Número: | 4 |
| Paginación: | 453-460 |
| País: | Brasil |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental |
| Resumen en inglés | The 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 biped-walking robot |
| Disciplinas: | Ingeniería |
| Palabras clave: | Ingeniería mecánica, Robots, Diseño |
| Keyword: | Engineering, Mechanical engineering, Robots, Design |
| Texto completo: | Texto completo (Ver PDF) |
