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Author/Affiliation: Masaki YamakitaOpen AccessArticle
8 Pages, 1,091 KB 
SLIP-SL: Walking Control Based on an Extended SLIP Model with Swing Leg Dynamics
Abstract:
This paper details an extension to the SLIP model named spring-loaded inverted pendulum model with swing legs (SLIP-SL). SLIP-SL extends the SLIP model by introducing swing leg dynamics while keeping its passive nature. This way, reference trajectories for the center of mass and swing foot trajectories can be simultaneously obtained which was not possible with…
Read More(This article belongs to the SP10 (Special Issue on Multidisciplinary Sciences and Engineering 2020-21) & Section Robotics (ROB))
Open AccessArticle
8 Pages, 1,246 KB
Newton-Euler Based Dynamic Modeling and Control Simulation for Dual-Axis Parallel Mechanism Solar Tracker
Abstract:
Dynamic modeling has been a crucial study in many areas of the engineering field. In this paper, we apply the Newton-Euler equation of motion to a two-DOF parallel mechanism solar tracker which is a close loop mechanism. The aim of this study is to show a simulation of the dynamical model with feedback control using…
Read More(This article belongs to the SP9 (Special Issue on Multidisciplinary Innovation in Engineering Science & Technology 2020) & Section Electrical Engineering (ELE))