Postural Equilibrium Criteria Concerning Feet Properties for Biped Robots

• Autorzy: González de Alba A. , Zielinska T.
• Języki publikacji: EN

Abstrakty

EN

This article presents a study on the postural equilibrium conditions for biped robots. Criteria for dynamic walking, such as ZMP and CoP are introduced and their similarities discussed. We also introduce the effects of a compliant foot and take them into consideration during the evaluation of the criteria. A model of a planar biped is used to imitate the movements of a human subject as recorded by the VICON motion capture system. In order to estimate the criteria, body segments accelerations and ground reaction forces are needed. ZMP and CoP are analyzed during both single and double support phases for the model’s motion. A linear shift function is used to transport the load of the biped between the supporting legs during the double support phase. We compare simulated CoP trajectories obtained using a rigid foot and a compliant, deformable spring-damper system located between the ankle joint and the sole of the foot. It is seen that the foot’s deformation smoothes the CoP trajectory and improves the biped’s stability.

Słowa kluczowe

EN

biped robots; motion analysis

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2012
• Tom: Vol. 6, No. 1
• Strony: 22--27
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

González de Alba A.

autor

Zielinska T.

• Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, 00-665, Poland.,

Bibliografia

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