This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link,four-actuator planar biped robot to realize dynamic walking.
以五杆四驱动的平面双足步行机器人为对象,研究了其动态步行的时不变步态规划和限定时间的非线性控制策略。
The paper presents a method, called GOWN (goal ordering with invariants) and uses state invariants to extract goal orderings.
给出了一种利用状态不变式来提取目标间顺序关系的GOWN(goalorderingwithinvariants)方法,并在比较目标间的顺序关系时,通过抽象和合一的手段,有效地控制了问题的增长规模,提高了处理效率。
