<p>Glavni rezultat istraživanja je analiza uticaja parametara na performanse antropomorfnog hoda. Analiziran je uticaj parametara na ponašanje: kompenzacionih pokreta; maksimalne vrednosti pogonskih momenata i snage u toku punog koraka za sve aktuatore; skoka ubrzanja trupa u frontalnoj i sagitalnoj ravni pri prelasku tačke nula momenta (TOM) ispod jedne pod drugu nogu; ukupne snage svih aktuatora i maksimalne vrednosti vertikalne komponente sila reakcije. Za ovu analizu izdvojeni su sledeći parametri: dužina koraka; period trajanja koraka; Zakon TOM-a i period trajanja dvooslonačke faze.</p> / <p>The main research result is analysis of the parameters’ impact on the anthropomorphic walk performances. The analysis covered parameters’ impact on behavior of: compensating movements; maximal values of the driving moments and power during the full step for all actuators; rise of the body’s acceleration in frontal and sagittal plane during the transition of the zero-moment-point (ZMP) from bellow one foot to bellow another foot; total power of all actuators and maximal value of the vertical component of the reaction force. For this analysis the following parameters are considered: step length; step duration period; ZMP law and the period of the double-support phase duration.</p>
| Identifer | oai:union.ndltd.org:uns.ac.rs/oai:CRISUNS:(BISIS)5971 |
| Date | 12 September 1980 |
| Creators | Surla Dušan |
| Contributors | Vukobratović Miomir, Stojaković Mirko, Đukić Đorđe, Mandić Jovan |
| Publisher | Univerzitet u Novom Sadu, Fakultet tehničkih nauka u Novom Sadu, University of Novi Sad, Faculty of Technical Sciences at Novi Sad |
| Source Sets | University of Novi Sad |
| Language | Serbian |
| Detected Language | English |
| Type | PhD thesis |
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