Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”

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

doi:10.5545/sv-jme.2010.210

Cited by 19 publications

(27 citation statements)

References 13 publications

(16 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A prototype of PASIBOT, modelled with the solid modelling software Solid Edge (Siemens PLM, USA), is shown in Figure 1. In Figure 2, all links belonging to the supporting leg are named and numbered as in [1]. Corresponding links of the swinging leg are identified by primes.…”

Section: Biped Robot Prototypementioning

confidence: 99%

“…In the preliminary kinematic analysis of PASIBOT [1], a fixed supporting foot was assumed, so the biped possessed a single degree of freedom (DOF). Thus, the angular positions and the Cartesian coordinates of the centre of mass of link i are referred to the angular position of the motor crank (ϑ8):…”

Section: Kinematic Analysis Of Pasibot Allowing For Sliding Of Suppormentioning

confidence: 99%

“…The kinematics of PASIBOT is detailed in [1]. In that study, a program based on inverse dynamics calculates the torque required in the sole motor for PASIBOT to walk steadily with a non-sliding supporting foot.…”

Section: Introductionmentioning

confidence: 99%

“…As a result, a wide variety of refined designs have been proposed. The introduction of new mechanisms and kinematic chains has enabled walking robot designs with fewer actuators and gearboxes, thereby reducing the weight, power consumption and cost of operation without compromising walking functionality [1] [2].…”

Section: Introductionmentioning

confidence: 99%

“…The MAQLAB group at Universidad Carlos III in Madrid, from the same perspective, have designed and manufactured the biped PASIBOT [1] [2].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Forward and Inverse Dynamics of the Biped PASIBOT

Corral

Meneses

Castejón

et al. 2014

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

This article addresses the supporting foot slippage of the biped robot PASIBOT and develops its forward and inverse dynamics for simple and double support phases. To address the slippage phenomenon, we consider an additional degree of freedom at the supporting foot and also distinguish between static and kinetic friction conditions. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB. The algorithm predicts the motion of the biped from the torque function given by the biped's sole motor. Thus, the algorithm becomes an indispensable tool for studying transient states of the biped (for example, the torques required for starting and braking), as well as defining the conditions that prevent or control slippage. Since the developed code is parametric, its output can greatly assist in the design, optimization and control of PASIBOT and similar biped robots. The topology, kinematics and inverse dynamics of the one-degree-of-freedom biped PASIBOT have been previously described, but without regard to slippage between the supporting foot and the ground.

show abstract

Section: Biped Robot Prototypementioning

confidence: 99%

Section: Kinematic Analysis Of Pasibot Allowing For Sliding Of Suppormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…The MAQLAB group at Universidad Carlos III in Madrid, from the same perspective, have designed and manufactured the biped PASIBOT [1] [2].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Forward and Inverse Dynamics of the Biped PASIBOT

Corral

Meneses

Castejón

et al. 2014

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

show abstract

Construction of a competition practice system for robotics engineering based on a competency model

Zhang

Meng

et al. 2022

Comp Applic In Engineering

View full text Add to dashboard Cite

Competition practice is of great significance for improving the engineering ability of undergraduates majoring in robotics engineering, and it occupies an important position in practical teaching systems. However, most existing competitions are spontaneously participated by students, and problems, such as poor systemicity, unclear ability‐training goals, and lack of an effective evaluation system, occur, resulting in limited improvement in students' ability. In this paper, a competency model for robotics engineering was proposed. It includes four dimensions: knowledge, skills, dispositions, and evaluation. The first three dimensions comprise multiple secondary and tertiary indices. On this basis, a competition practice system was established. The system includes four practical course groups and a final competition, and the competency model runs through before, during, and after practice. The competition practice system based on the competency model was applied to two groups of students. The analysis results show that students have a clear understanding of their own ability, and their comprehensive ability has been improved. This finding provides a reference for the construction of practice systems for other engineering majors.

show abstract