Arrow Research search

Author name cluster

Anthony S. David

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

15 papers
2 author rows

Possible papers

15

IROS Conference 2008 Conference Paper

Sequential Method of Analytical Potentials an approach for the biped robots dynamic gait generation

  • Anthony S. David
  • Olivier Bruneau

This paper presents a tool called sequential method of analytical potentials aiming to generate dynamic gaits for biped robots. The objective is to control the different accelerations governing the evolution of the robot by modifying precisely and directly its own dynamic effects. Taking into account the intrinsic dynamics of the robot as well as the capability of its joint actuators, this method is based on the use of the dynamic propulsion potential and is illustrated on the biped robot RABBIT.

Details

IROS Conference 2006 Conference Paper

Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots

  • Olivier Bruneau
  • Anthony S. David

This paper presents an analytical approach for the generation of walking gaits with a high dynamic behaviour. The principle is to modify the dynamic effects generated by the robot directly by taking into account the intrinsic dynamics of the robot as well as the capability of its joint torques. In order to perform this, two criterions based on dynamics are proposed: the "dynamic propulsion criterion" and the "dynamic propulsion potential". This general approach is illustrated for an underactuated robot without foot, which can not be statically stable

Details