Modelling, Simulation and Control of the Walking of Biped Robotic Devices—Part I : Modelling and Simulation Using AutolevReportar como inadecuado




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Control and Computer Engineering Department, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10124 Torino, Italy



These authors contributed equally to this work.





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Academic Editor: Chien-Hung Liu

Abstract A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to a different constraint. Moreover, because these unilateral constraints, represented by the contact between the foot-feet and the ground, play a fundamental role for maintaining the postural equilibrium during the gait, forces and torques returned must be continuously monitored, as they pose stringent conditions to the trajectories that the joints of the robot can safely follow. The advantages of using the Kane’s method to approach the dynamical model models of the system are outlined. This paper, divided in three parts, deals with a generical biped device, which can be an exoskeleton for rehabilitation or an indipendent robot. Part I is devoted to modelling and simulation, part II approaches the control of walk in a rectilinear trajectory, part III extends the results on turning while walking. In particular, this part I describes the model of the biped robot and the practicalities of building a computer simulator, leveraging on the facilities offered by the symbolic computational environment Autolev that complements the Kane’s method. View Full-Text

Keywords: mechanical multi-chain; non-holonomic systems; hybrid complementarity systems; biped robotics; simulation; Kane’s method; object oriented design mechanical multi-chain; non-holonomic systems; hybrid complementarity systems; biped robotics; simulation; Kane’s method; object oriented design





Autor: Giuseppe Menga †,* and Marco Ghirardi †

Fuente: http://mdpi.com/



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