Kinematic analysis and modelling of biped locomotion systems


Autoria(s): Silva,Filipe Miguel Teixeira Pereira da; Machado,José Antônio Tenreiro
Data(s)

01/09/1999

Resumo

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.

Formato

text/html

Identificador

http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0100-73861999000300003

Idioma(s)

en

Publicador

The Brazilian Society of Mechanical Sciences

Fonte

Journal of the Brazilian Society of Mechanical Sciences v.21 n.3 1999

Palavras-Chave #Biped Locomotion #Motion Variables #Kinematics #Motion Planning #Performance Measure
Tipo

journal article