Kinematic analysis and modelling of biped locomotion systems

Abstract

This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion

Analyses and Optimization Methods of Legged Robots: A Review

“…Rahul R Thavai[5],et,al., (2015) built up a basic 11 DOF biped robot utilizing 5 links,2 joints for every leg and one for the torso that is associated through revolute joints, for example, hip,knee and lower leg joints to impersonate human motion.Kinematic model is acquired through D-H method and Dynamic model through Lagrangian formulations.Motion arranging and Kinematic investigation have been done in MATLAB for figuring joint and strolling parameters.And the exhibition of the robot is assessed through occasional strolling simulations in Simulink.To decide corresponding and subordinate gains just as the reference plot for the hip swing,a regulator has been set up on the robot.The robot has more levels of opportunity in order to keep away from the limitation of movement in workplace.Jose Antonio Tenreiro Machado[6],et.al., (1999) introduced kinematic examination and displaying of biped motion frameworks with an intend to decide kinematic attributes and framework execution during strolling by portraying the movement regarding five variables:hip height,step length,maximum hip ripple,maximum foot leeway and connection lengths.Four strategies have been proposed to perceptibly gauge the presentation of the machine: perturbation analysis,energy analysis,low pass recurrence reaction investigation and locomobility measurement.Simulation results show that knee joint might be a main consideration because of critical scope of execution variation.A significant debasement happens as the progression length esteem increases.The hip appeared to be especially touchy to the states of hip height.Locomobility investigation assisted with choosing a base foot freedom to keep away from unplanned contact. During position phase,constraint conditions are presented on the ZMP to guarantee soundness and the central rakish energy to make the biped robot non holonomic and to stay away from superfluous torso moment.During flight phase,the vertical separation between the foot and the focal point of mass is arranged with the end goal that the speed of the robotic foot arrives at null at the hour of arriving to guarantee smooth arrival with no impact.Results of simulation have been introduced for both the help and aviation stages for different introductory robotic designs which brought about variety of the level separation and vertiginous stature that the robot had.Elvedin Kljuno[8],et.al., (2010) built up a disentangled control plan as a reverse plant model of a 10 DOF biped strolling robot that utilizes non direct stride planning,as the standard straight control configuration is related with issues of moderately convoluted architecture,high DOF,and adjusting requirements.Another hugeness of this methodology is the diminished count prerequisites because of improved system of ostensible calculation of joint forces.Kinematic and Dynamic examinations are talked about inclusion of the outcomes for ground powers and joint torques important for execution of a recommended strolling movement and correlation of test information.…”