Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches
Stability during the biped locomotion and especially humanoid robotswalking is a big challenge in robotics modelling. This papercompares the classical and novel methodologies of modelling andalgorithmic implementation of the impact/contact dynamics thatoccurs during a biped motion. Thus, after est...
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| Format: | Article |
| Language: | English |
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AIMS Press
2010-05-01
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| Series: | Mathematical Biosciences and Engineering |
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| Online Access: | https://www.aimspress.com/article/doi/10.3934/mbe.2010.7.479 |
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| _version_ | 1832590209156382720 |
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| author | Khalid Addi Aleksandar D. Rodić |
| author_facet | Khalid Addi Aleksandar D. Rodić |
| author_sort | Khalid Addi |
| collection | DOAJ |
| description | Stability during the biped locomotion and especially humanoid robotswalking is a big challenge in robotics modelling. This papercompares the classical and novel methodologies of modelling andalgorithmic implementation of the impact/contact dynamics thatoccurs during a biped motion. Thus, after establishing the freebiped locomotion system model, a formulation using variationalinequalities theory via a Linear Complementarity Problem then animpedance model are explicitly developed. Results of the numericalsimulations are compared to the experimental measurements then theboth approaches are discussed. |
| format | Article |
| id | doaj-art-b56f4e496c434d86a2c5f417925579ca |
| institution | Kabale University |
| issn | 1551-0018 |
| language | English |
| publishDate | 2010-05-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Mathematical Biosciences and Engineering |
| spelling | doaj-art-b56f4e496c434d86a2c5f417925579ca2025-01-24T02:00:43ZengAIMS PressMathematical Biosciences and Engineering1551-00182010-05-017347950410.3934/mbe.2010.7.479Impact dynamics in biped locomotion analysis: Two modelling and implementation approachesKhalid Addi0Aleksandar D. Rodić1University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-ClotildeUniversity of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-ClotildeStability during the biped locomotion and especially humanoid robotswalking is a big challenge in robotics modelling. This papercompares the classical and novel methodologies of modelling andalgorithmic implementation of the impact/contact dynamics thatoccurs during a biped motion. Thus, after establishing the freebiped locomotion system model, a formulation using variationalinequalities theory via a Linear Complementarity Problem then animpedance model are explicitly developed. Results of the numericalsimulations are compared to the experimental measurements then theboth approaches are discussed.https://www.aimspress.com/article/doi/10.3934/mbe.2010.7.479linear complementarityproblemunilateral contactimpact dynamicsnonsmooth dynamicalsystemsimpedance model.humanoid robots |
| spellingShingle | Khalid Addi Aleksandar D. Rodić Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches Mathematical Biosciences and Engineering linear complementarityproblem unilateral contact impact dynamics nonsmooth dynamicalsystems impedance model. humanoid robots |
| title | Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches |
| title_full | Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches |
| title_fullStr | Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches |
| title_full_unstemmed | Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches |
| title_short | Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches |
| title_sort | impact dynamics in biped locomotion analysis two modelling and implementation approaches |
| topic | linear complementarityproblem unilateral contact impact dynamics nonsmooth dynamicalsystems impedance model. humanoid robots |
| url | https://www.aimspress.com/article/doi/10.3934/mbe.2010.7.479 |
| work_keys_str_mv | AT khalidaddi impactdynamicsinbipedlocomotionanalysistwomodellingandimplementationapproaches AT aleksandardrodic impactdynamicsinbipedlocomotionanalysistwomodellingandimplementationapproaches |