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Chapitre D'ouvrage Année : 2006

Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism

Résumé

In this paper we shall present the progress of the ROBOCOQ project. This project aims to design a prototype of autonomous biped based on the avian model, capable of exploring cluttered environments. This design relies on experimental kinematics data obtained from the quail. The experimental protocol used to reconstruct a 3D model is presented in this paper as well as the procedure and criteria employed to find an optimal inverse kinemat-ics control.

Domaines

Biologie animale
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Dates et versions

hal-02177642 , version 1 (09-07-2019)

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L. Mederreg, Vincent Hugel, A. Abourachid, P. Blazevic, Rémi Hackert. Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism. Climbing and Walking Robots - Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005, London, UK, September 13-15, 2005, Springer Berlin Heidelberg, pp.319-326, 2006, 978-3-540-26413-2. ⟨10.1007/3-540-26415-9_38⟩. ⟨hal-02177642⟩
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