Forward and Inverse Dynamics of the Biped PASIBOT

Corral, Eduardo; Meneses, J.; Castejón, Cristina; García-Prada, Juan Carlos

doi:10.5772/58537

Cited by 17 publications

(12 citation statements)

References 8 publications

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“…There are several typical models to describe the friction characteristics of joint and motor including the Coulomb, Coulomb þ viscous and Stribeck models. 23,24 For the joint friction, Coulomb þ viscous model is widely used both in rigid body and in flexible dynamic models. Therefore, the Coulomb þ viscous model is also employed in this article as follows f e ð _ q e Þ ¼ F ve _ q e þ F se signð _ q e Þ ð 4Þ…”

Section: Dynamic Model Of Robot With Elastic Jointmentioning

confidence: 99%

A dynamic parameter identification method of industrial robots considering joint elasticity

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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Considering the joint elasticity, a novel dynamic parameter identification method is proposed for general industrial robots only with motor encoders. Firstly, the unknown parameters of the elastic joint dynamic model are analyzed and divided into two types. The first type is the motion-independent parameter only including the joint stiffness, which can be identified by the static force/torque-deformation experiments without the dynamic model. The second type is the motiondependent parameter composed of the rest of the parameters, which needs the dynamic excitation experiments. Therefore, these two types of parameters can be identified separately. Meanwhile, it is found that the rotor inertia parameters can be obtained from the manufacturer, which reduces the identification difficulty of other parameters. After obtaining the rotor inertia and joint stiffness, an approximate processing algorithm is proposed considering the motor friction to establish the linear identification model of other parameters. Hence, the least squares can be employed to identify the parameters, and the independence of the inertia and joint viscous friction parameters are not affected. Meanwhile, the exciting trajectories can be optimized throughout the robot workspace, which reduces the effect of measurement noise on identification accuracy. With the proposed separated identification strategy and approximate processing algorithm, the dynamic parameters can be obtained precisely without double encoders on each joint. Finally, a series of simulations are conducted to evaluate the good performance of the proposed method.

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Section: Dynamic Model Of Robot With Elastic Jointmentioning

confidence: 99%

A dynamic parameter identification method of industrial robots considering joint elasticity

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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“…In addition, some updated bipeds have been built following the passive philosophy [3,9]. The biped "PASIBOT" of Universidad Carlos III de Madrid is able to walk in a steady mode with only one actuator/drive [10,11]. The robot can walk in a similar way to humans, by means of the balance and the dynamics of the natural swinging, in order to consume a minimum energy to walk.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

et al. 2020

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This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model.

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“…That is why our work is focused on finding a new dynamics analysis to simplify the design of new mechanisms and kinematic chains which, maintaining the robot functionality, does not require such a high number of actuators. This would reduce the robot mass and hence its power consumption and total cost [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Forward and Inverse Dynamics and Quasi-Static Analysis of Mechanizes with MATLAB®

Corral¹,

Meneses²,

García-Prada³

2016

Applications From Engineering With MATLAB Concepts

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There are many potential advantages of direct and inverse dynamic and quasi-static analysis of mechanisms, namely control the risk of slippage, improve stability, better adaptation to the environment, obtaining smooth movements and optimizing energy consumption. This chapter proposes new analysis methods and algorithms to bring new solutions to the mechanics of the machines under consideration. The methodology has been developed in modular programs thanks to the flexibility of MATLAB ®. In this chapter, a methodology for the complete kinematic and dynamic study of mechanisms is provided. The programs have been designed so that all parameters can be modified. It was possible to automate these calculations creating an algorithm implemented in a programming language to easily find the solutions and the results of the analysis. To test the interest of the methodology, in this chapter, this has been applied to the field of robots, especially the design of the biped robot PASIBOT. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB ®. In addition, the methodology was applied to another machine, an unmanned ground vehicle (UGV), obtaining navigation optimization results using a numerical program based on a quasi-static half vehicle model.

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Forward and Inverse Dynamics of the Biped PASIBOT

Cited by 17 publications

References 8 publications

A dynamic parameter identification method of industrial robots considering joint elasticity

A dynamic parameter identification method of industrial robots considering joint elasticity

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

Forward and Inverse Dynamics and Quasi-Static Analysis of Mechanizes with MATLAB®

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