@inproceedings{09037249c59a462bbd1b5bffe238d7d3,
title = "Take-off motion planning of legged hopping robot with redundancy characteristic",
abstract = "The planning for four-joint legged hopping robot with two redundant degrees of freedom at the take-off stage is researched. According to the take-off velocity and the boundary condition of centroid motion, the trajectory is planned with variable quartic polynomial interpolation. From inverse kinematics, the motion planning with redundancy characteristic is completed by using the GPM with continuous scale factor. Performance index of avoiding joint limit and optimizing joint driving torque are realized. The data indicates the feasibility and practicability of this algorithm.",
keywords = "GPM, Hopping robot, Inverse kinematics, Motion planning, Redundant",
author = "Yongbo Li and Minqiang Xu and Wei Yu",
year = "2013",
doi = "10.4028/www.scientific.net/AMR.823.127",
language = "英语",
isbn = "9783037858813",
series = "Advanced Materials Research",
pages = "127--130",
booktitle = "Computing, Control and Industrial Engineering IV",
note = "2013 4th International Conference on Computing, Control and Industrial Engineering, CCIE 2013 ; Conference date: 27-10-2013 Through 28-10-2013",
}