Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control

Boukheddimi, Melya; Bailly, François; Souères, Philippe; Watier, Bruno

doi:10.1080/10255842.2020.1714962

Cited by 1 publication

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“…The analysis of the robot's hand structure, foot structure and motion posture is implemented by combining the location of handling and the size of the items to be carried [8][9][10]. The hand and foot structure of the bipedal handling robot is designed with the bionic human hand and foot structure, and the designed parts are subjected to force verification and finite element static stress-strain analysis of the key parts structure, which makes the parts rationalized, reliable and practical [11]. On the basis of the conclusion that the maximum deformation of key parts is within 0.016 mm , the maximum stress in rated condition is within 149 MPa, which is within the allowable range of the material, further research will be conducted later.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

2023

Teh. vjesn.

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Difficult and labour-intensive transportation up and down the steps is a challenge in small spaces. This work focused on the smooth performance requirements about each joint structure of robot foot. We have made research on the hand and foot structure of the transport part, which simplifies its posture calculation in the designed bipedal transport robot model. Methods for determination of each joint angle of the hand and foot are presented, including the use of standard D-H method to establish a mathematical model and perform forward and inverse kinematic analysis to derive the angles of each joint, where the matrix was coded by Python software to ensure the accuracy of the calculated results. The joints angles are assigned by the Step function, and the motion of the bipedal robot in the case of single access is simulated by the inverse kinematic derivation formula. Simulation results show that the structure of the robot's joints meets the requirement of maintaining the stability of the robot when going up and down the stairs.

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Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

2023

Teh. vjesn.

View full text Add to dashboard Cite

show abstract

Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control

Cited by 1 publication

References 8 publications

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

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