Bio-Inspired Model-Based Design and Control of Bipedal Robot
نویسندگان
چکیده
The article aims to describe stages of development a mobile, anthropomorphic robot. individual phases the bio-inspired model-based design two-legged robot are described, from analysis human walking patterns, through creation simulation model and control system testing physical such is based on an movements parts lower body during locomotion. Based this analysis, chosen motion described as combination passive dynamic with controlled, linear inverted pendulum model. When creating model, open kinematic chain consisting base (the frame) two effectors legs) used. virtual realized using software tool Matlab its toolboxes Simulink Simscape, results confirm correctness design. feasibility confirmed by skeleton 3D printing commissioning Atmel ATmega2560 Raspberry Pi Zero W microcontrollers.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app121910058