Modeling a biped robot on Matlab/SimMechanics

Author

Velasquez-Lobo, M.F. ; Ramirez-Cortes, J. Manuel ; de Jesus Rangel-Magdaleno, J. ; Vazquez-Gonzalez, J.L.

Author_Institution

Electron. Dept., Inst. Nac. de Astrofis., Tonantzintla, Mexico

fYear

2013

fDate

11-13 March 2013

Firstpage

203

Lastpage

206

Abstract

This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, which supports mathematical model development with time and effort savings. The model used for the biped robot simulation consists of 5-links which are connected through revolute joins. The identical legs have knee joints between the shank and thigh parts, and a rigid body forms the torso. Furthermore, modeling of ground contact forces is described. A PD controller is used on a linear model in state variable form in order to simulate the dynamic of the system. Results obtained from the dynamic simulation are presented.

Keywords

PD control; digital simulation; legged locomotion; mechanical contact; robot dynamics; shear modulus; Matlab/SimMechanics; PD controller; biped robot modeling; biped robot simulation; dynamic simulation; ground contact force modeling; identical legs; knee joints; linear model; mathematical model development; revolute joins; rigid body; shank parts; state variable form; thigh parts; torso; Joints; Legged locomotion; Mathematical model; Robot kinematics; Torque; Torso; Biped robot; SimMechanics; modeling; torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Computing (CONIELECOMP), 2013 International Conference on

Conference_Location

Cholula

Print_ISBN

978-1-4673-6156-9

Type

conf

DOI

10.1109/CONIELECOMP.2013.6525786

Filename

6525786