Toward a dynamic analysis of bipedal robots inspired by human leg muscles

Abstract

A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by adding these passive springs in the leg mechanism of bipedal robot. On the other hand, using these springs may inflict a fatigue during walking due to the additional work that can provide to the joints. The main objective of this paper is to analyze the total work of the robot during walking by proposing four cases of the preload of the springs at the equilibrium position. It's found from this study that the case that has the most energy saving and ensure the comfortable walking to the robot is when the two muscles (GAS) and (TA) are not preloaded to support the total weight at the equilibrium position.

Adaptive sliding mode control of a novel cable driven robot model

“…(4) Where: FR is the resultant force of all tensions applied to the cables and S is the jacobian matrix [16].…”

“…The equations of (Ux, Uy, Uz) along x,y and z (combination of equation (6) , (11), (13) and (16); (6) , (11) , (14) and (17) and (6) , (11) , (15) and (18) successively) represent the command vector of the cable-based robot for applying adequate electrical voltages to the motors in order to generate tensions on the cables.…”

Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

“…Generation of trajectories with a bounded value of jerk improves the tracking accuracy and will allow to reach a higher speed of task execution, with eventually a reduction in the excitation of the resonant frequencies and the vibrations caused by the planetary gear system [23][24][25][26]. We can compare between the two postures of 2-R robot by using the equations of the serial planar manipulators [27] in the dynamics modeling shown in section 2 to choose the posture that has the power saving [28][29][30][31][32][33][34].…”

Study on numerical analysis of dynamic parameters of mobile walking robot

“…These cameras allow the robot to move along an angular coordinate system, which is typical for humans. Also in the context of building a model of a walking robot, studies are of interest [13]. This paper proposes an analysis of four cases of robot preload in equilibrium, however, without taking into account the technological load.…”