Compliant Contact of Walking Robot Feet
نویسندگان
چکیده
The feet/ground interaction is one of the major problem in the context of dynamic simulation for walking devices. We focus here about the phenomenon of contact. This paper describes a general model for dynamic simulation of contacts between a walking robot and ground. This model considers a force distribution and uses an analytical form for each force depending only on the known state of the robot system. The simulation includes all phenomena that may occur during the locomotion cycle : impact, transition from impact to contact, contact during support with static friction, transition from static to sliding friction and sliding friction. Some examples are presented to show the use of this contact model for the simulation of the feet/ground interaction during a walking gait.
منابع مشابه
The Design and Realization of a Sensitive Walking Platform
Legged locomotion provides robots with the capability of adapting to different terrain conditions. General complex terrain traversal methodologies solely rely on proprioception which readily leads to instability under dynamical situations. Biological legged locomotion utilizes somatosensory feedback to sense the real-time interaction of the feet with ground to enhance stability. Nevertheless, l...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کاملWalking pattern generation for a humanoid robot with compliant joints
This work presents a walking pattern generator based on the control of the center of mass (COM) states and its experimental validations on the compliant humanoid robot COMAN powered by intrinsically compliant joints. To cope with the inaccuracies of the joint position tracking resulted by the physical compliance, the proposed pattern generator uses the feedback states of the COM and on-line com...
متن کاملFoot Placement Modification for a Biped Humanoid Robot with Narrow Feet
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's...
متن کاملStiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
متن کامل