| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000312010 |
| ISSN: | 0100-7386 |
| Authors: | Silva, Filipe Miguel Teixeira Pereira da1 Machado, Jose Antonio Tenreiro2 |
| Institutions: | 1Universidade de Aveiro, Aveiro. Portugal 2Universidade do Porto, Porto. Portugal |
| Year: | 1999 |
| Season: | Sep |
| Volumen: | 21 |
| Number: | 3 |
| Pages: | 402-413 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental |
| English abstract | This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería mecánica, Cinemática, Robots, Movimiento |
| Keyword: | Engineering, Control engineering, Mechanical engineering, Kinematics, Robots, Movement |
| Full text: | Texto completo (Ver HTML) |
