DocumentCode
2342463
Title
The Design of Bionic Leg and Motion Simulation on Passive Dynamic Bipedal Robot
Author
Shujie, Qiao ; Lumin, Chen ; Xinjie, Wang ; Rentao, Chen
Author_Institution
Zhengzhou Univ. of Light Ind., Zhengzhou, China
Volume
2
fYear
2010
fDate
18-20 Dec. 2010
Firstpage
656
Lastpage
659
Abstract
To improve the walking stability of the passive bipedal robot with knees, a four-linkage multiaxial bionic knee is implemented in the robot leg, developing a new kind of passive-dynamic bipedal robot. A 3D dynamic simulation model of the robot walking on a slope is established in MSC. ADAMS and a numerical simulation is performed simultaneously. The robot´s smooth walking was achieved, which contributes to understand the nature dynamic characteristics of human walking, and provide a clue to improve the bipedal robot´s dynamic performance.
Keywords
biocybernetics; legged locomotion; mobile robots; motion control; numerical analysis; robot kinematics; 3D dynamic simulation model; MSC.ADAMS; bionic leg; bipedal robot dynamic performance; four linkage multiaxial bionic knee; motion simulation; numerical simulation; passive dynamic bipedal robot; walking stability; Bionic Joints; Bipedal Robot; Passive Dynamic;
fLanguage
English
Publisher
ieee
Conference_Titel
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location
ChangSha
Print_ISBN
978-0-7695-4286-7
Type
conf
DOI
10.1109/ICDMA.2010.201
Filename
5701492
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