Abstract
The active spatial mechanism for realization of the artificial anthropomorphic gait belongs to the class of complex kinematic chains. During the single-support gait phase, the mechanism is a complex open kinematic chain, while in the double-support phase one of the chains becomes closed. This chapter is devoted to the description of a computer procedure for forming the dynamic equations of motion of such mechanism, comprising both the open and closed complex kinematic chains. The procedure is based on the methods by which the computer forms the mathematical models for simple open kinematic chains. These methods were described in detail in the previous books of this series [1–3].
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References
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© 1990 Springer-Verlag Berlin Heidelberg
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Vukobratović, M., Borovac, B., Surla, D., Stokić, D. (1990). Synthesis of Nominal Dynamics. In: Biped Locomotion. Communications and Control Engineering Series, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83006-8_2
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DOI: https://doi.org/10.1007/978-3-642-83006-8_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83008-2
Online ISBN: 978-3-642-83006-8
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