Kinematic analysis and modelling of biped locomotion systems
نویسندگان
چکیده
منابع مشابه
Kinematic aspects of robotic biped locomotion systems
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 thi...
متن کاملBiped Locomotion: Stability, Analysis and Control
In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...
متن کاملGait Generation and Transition of a Biped Robot Based on Kinematic Synergy in Human Locomotion
Humans have an extremely redundant system for locomotion. To handle the redundancy problem, humans use coordinative structures using conditions of constraint in their joint movements to reduce the number of degrees of freedom, which is called kinematic synergy. This chapter shows some characteristics in the kinematic synergy in human locomotion and shows a locomotion control system for a biped ...
متن کاملModeling and Kinematic Analysis of the Biped Robot
Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...
متن کاملKinematic analysis of obstacle clearance during locomotion.
This study investigated the effect of obstacles of different heights on the locomotion of 15 healthy subjects. The following parameters were studied: (1) the distance of the toe and heel markers from the obstacle during toe-off and heel contact, respectively, (2) the minimum clearance distance of the toe and heel markers, and (3) the angular displacements and velocities of the hip, knee, and an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Brazilian Society of Mechanical Sciences
سال: 1999
ISSN: 0100-7386
DOI: 10.1590/s0100-73861999000300003