Kinematic analysis and modelling of biped locomotion systems



Título del documento: Kinematic analysis and modelling of biped locomotion systems
Revista: Journal of the Brazilian Society of Mechanical Sciences
Base de datos: PERIÓDICA
Número de sistema: 000312010
ISSN: 0100-7386
Autores: 1
2
Instituciones: 1Universidade de Aveiro, Aveiro. Portugal
2Universidade do Porto, Porto. Portugal
Año:
Periodo: Sep
Volumen: 21
Número: 3
Paginación: 402-413
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Experimental
Resumen en inglés 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
Disciplinas: Ingeniería
Palabras clave: Ingeniería mecánica,
Cinemática,
Robots,
Movimiento
Keyword: Engineering,
Control engineering,
Mechanical engineering,
Kinematics,
Robots,
Movement
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