Locomotion Modeling and Simulation of the Biped Robot with Heterogeneous Legs

摘要：

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, I.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software.

作者: Li FU Xinhe XU

作者单位: Shenyang Institute of Aeronautical Engineering, China Northeastern University, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）