Design of a Dynamic Simulator for a Biped Robot
Simulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satis...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Modelling and Simulation in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/5539123 |
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| author | Diego A. Bravo M Carlos F. Rengifo Rodas |
| author_facet | Diego A. Bravo M Carlos F. Rengifo Rodas |
| author_sort | Diego A. Bravo M |
| collection | DOAJ |
| description | Simulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satisfy lead to models described by hybrid algebraic differential equations. In this paper, a simulator was developed for a seven degrees of freedom planar biped robot, which was modeled using the Euler-Lagrange formulation. This model allowed the design and implementation of a control strategy for balance management, and the monitoring of articular reference paths are tested in the simulator before proceeding to implementation on the actual prototype. |
| format | Article |
| id | doaj-art-8f507dbc468e46b9a849cda0a676c5bc |
| institution | Kabale University |
| issn | 1687-5591 1687-5605 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Modelling and Simulation in Engineering |
| spelling | doaj-art-8f507dbc468e46b9a849cda0a676c5bc2025-02-03T01:29:23ZengWileyModelling and Simulation in Engineering1687-55911687-56052021-01-01202110.1155/2021/55391235539123Design of a Dynamic Simulator for a Biped RobotDiego A. Bravo M0Carlos F. Rengifo Rodas1Physics Department, Universidad del Cauca, ColombiaElectronics, Instrumentation and Control Department, Universidad del Cauca, ColombiaSimulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satisfy lead to models described by hybrid algebraic differential equations. In this paper, a simulator was developed for a seven degrees of freedom planar biped robot, which was modeled using the Euler-Lagrange formulation. This model allowed the design and implementation of a control strategy for balance management, and the monitoring of articular reference paths are tested in the simulator before proceeding to implementation on the actual prototype.http://dx.doi.org/10.1155/2021/5539123 |
| spellingShingle | Diego A. Bravo M Carlos F. Rengifo Rodas Design of a Dynamic Simulator for a Biped Robot Modelling and Simulation in Engineering |
| title | Design of a Dynamic Simulator for a Biped Robot |
| title_full | Design of a Dynamic Simulator for a Biped Robot |
| title_fullStr | Design of a Dynamic Simulator for a Biped Robot |
| title_full_unstemmed | Design of a Dynamic Simulator for a Biped Robot |
| title_short | Design of a Dynamic Simulator for a Biped Robot |
| title_sort | design of a dynamic simulator for a biped robot |
| url | http://dx.doi.org/10.1155/2021/5539123 |
| work_keys_str_mv | AT diegoabravom designofadynamicsimulatorforabipedrobot AT carlosfrengiforodas designofadynamicsimulatorforabipedrobot |