Motion synthesis and force distribution analysis for a biped robot

• Autorzy: Trojnacki M.T. , Zielińska T.
• Języki publikacji: EN

Abstrakty

EN

In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.

Słowa kluczowe

EN

biped robot; motion synthesis; dynamic equilibrium; ground reaction forces' distribution; computer simulation

PL

robot dwunożny; synteza ruchu; równowaga dynamiczna; rozkład sił reakcji podłoża; symulacja komputerowa

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2011
• Tom: Vol. 13, no. 2
• Strony: 45--56
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Trojnacki M.T.

autor

Zielińska T.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw,

Bibliografia

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