Design and simulated characteristics of a new biped mechanism
| العنوان: | Design and simulated characteristics of a new biped mechanism |
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| المؤلفون: | Tao Li, Marco Ceccarelli |
| المصدر: | Robotica. 33:1568-1588 |
| بيانات النشر: | Cambridge University Press (CUP), 2014. |
| سنة النشر: | 2014 |
| مصطلحات موضوعية: | Computer science, General Mathematics, Walking modes, Degrees of freedom (mechanics), Displacement (vector), Humanoid robots, Biped mechanisms, Dynamic simulation, Walking modes, Motion capability, Computer Science Applications, Contact force, Biped mechanisms, Mechanism (engineering), Dynamic simulation, Acceleration, Control and Systems Engineering, Control theory, Motion capability, Torque, Humanoid robots, Software, Humanoid robot, Simulation |
| الوصف: | SUMMARYThis paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC.ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well. |
| تدمد: | 1469-8668 0263-5747 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::34963a14a85732e6881e5fbb801af0b0 https://doi.org/10.1017/s0263574714000897 |
| حقوق: | CLOSED |
| رقم الأكسشن: | edsair.doi.dedup.....34963a14a85732e6881e5fbb801af0b0 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 14698668 02635747 |
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