Hydraulic Bipedal Robots Locomotion Mathematical Modeling

Kulakov, D.; Semenov, S.; Kulakov, B.; Oleg, Tarasov

doi:10.1016/j.proeng.2015.06.009

Cited by 12 publications

(2 citation statements)

References 4 publications

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“…The many researchers have developed the mathematical modelling approaches for deploying the human walking pattern to the bipedal-legged robot. Kulakov et al [5] proposed the planar legged robot model based on graph theory. The mathematical model of the hydraulic actuator is developed and validated experimentally.…”

Section: Introductionmentioning

confidence: 99%

Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance

Singh

Bera

2019

J Braz. Soc. Mech. Sci. Eng.

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This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed. The robot walking scheme depends upon the oscillating cylinder mechanism. Two DC motors are actuating the prismatic leg of the robot. Then, bond graph model is converted into the Simulink block which is further used for obstacle avoidance application. The physical model of the biped robot is also fabricated. The second part of the work deals with the development of the hybrid obstacle avoidance algorithm by using the merits of the line following, tangent bug and wall following algorithm. The practicability of algorithm is validated on two cases depend upon the positions of the obstacle. The coding of the algorithm is developed by using MATLAB software. The single rectangular shape obstacle is considered for obstacle avoidance by the robot during experimentation work. At last, the validation of the simulation and experimentation work is considered.

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Section: Introductionmentioning

confidence: 99%

Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance

Singh

Bera

2019

J Braz. Soc. Mech. Sci. Eng.

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“…Researchers assessing robot walking that is quite similar to a human walking style have developed different mathematical modelling techniques. A planar bipedal robot model based on graph theory is developed by Kulakov et al 5 The hydraulic-based actuator is mathematically modelled and is validated experimentally. The Simmechanics tool is used by Silva et al 6 for the modelling of a quadruped robot and the angular position of the hip and knee joint is also considered in this model.…”

Section: Introductionmentioning

confidence: 99%

Fault detection, isolation and reconfiguration of a bipedal-legged robot

Singh

Bera

2018

SIMULATION

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This paper deals with the fault detection, isolation (FDI) and reconfiguration of the locomotion of a bipedal-legged robot. Initially, the planar model of the legged robot in the vertical plane is developed using a bond graph (BG) approach. Then, the planar BG model of the legged robot is extended to the three-dimensional legged robot. Two individual motors are used to actuate the prismatic leg of the robot for locomotion. The BG simulation provides results for straight walking based on an oscillating cylinder mechanism and the turning motion of the legged robot are discussed. The prototype model of the legged robot is also developed and experimentation is done for straight and inclined plane applications. Finally, an FDI technique for the three-dimensional model of a legged robot is developed for the generation of fault indicators (i.e., analytical redundancy relations; ARRs) in the presence of system failure. The ARRs are derived from the BG model of the legged robot during the occurrences of the fault. The experimental results are validated with the simulation results for FDI and reconfiguration when the robot manoeuvres in a U-shaped path. The real-time fault diagnosis and reconfiguration for locomotion of the legged robot is possible with this FDI approach.

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