Dynamic modeling and analyzing of a walking robot

被引：0
|
作者：
ZHUANG Yu-feng [1 ]
LIU Dong-qiang [1 ]
WANG Jun-guang [1 ]
机构：
[1] School of Automation,Beijing University of Posts and Telecommunications
来源：
The Journal of China Universities of Posts and Telecommunications | 2014年 / 01期
关键词：
walking robot; D-H method; dynamic modeling; Lagrange method; Adams simulation;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
In this paper, a walking robot is established. The zero-moment point(ZMP) is used to stabilize the working robot. The kinematic model of the robot based on denavit-hartenberg(D-H) method is presented in this thesis. And then the dynamic model, based on Lagrange method, is built by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is achieved based on Adams. Driving torque of left ankle is calculated according to joint angle, angular velocity and angular acceleration. The validity of the dynamic model is testified by comparing with the result of simulation.
引用
收藏
页码：122 / 128
页数：7
相关论文
共 50 条
  • [1] Dynamic modeling and analyzing of a walking robot
    ZHUANG Yu-feng
    LIU Dong-qiang
    WANG Jun-guang
    [J]. TheJournalofChinaUniversitiesofPostsandTelecommunications., 2014, 21 (01) - 128
  • [2] Fuzzy Dynamic Modeling for Walking Modular Robot Control
    Vladareanu, Luige
    Tont, Gabriela
    Ion, Ion
    Velea, Lucian M.
    Gal, Alexandru
    Melinte, Octavian
    [J]. AEE '10: PROCEEDINGS OF THE 9TH WSEAS INTERNATIONAL CONFERENCE ON APPLICATIONS OF ELECTRICAL ENGINEERING, 2010, : 163 - +
  • [3] Modeling and Analysis of the Dynamic Walking of a Biped Robot with Knees
    Added, Essia
    Gritli, Hassene
    Belghith, Safya
    [J]. 2021 18TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD), 2021, : 179 - 185
  • [4] Modeling and Analysis of Tensegrity Robot for Passive Dynamic Walking
    Zheng, Yanqiu
    Li, Longchuan
    Asano, Fumihiko
    Yan, Cong
    Zhao, Xindi
    Chen, Haosong
    [J]. 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2021, : 2479 - 2484
  • [5] Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait
    Zhu, Zhenchao
    Sui, Zhen
    Tian, Yantao
    Jiang, Hong
    [J]. ADVANCES IN BIONIC ENGINEERING, 2014, 461 : 903 - 907
  • [6] Dynamic Modeling of Energy efficient Crab Walking of Hexapod Robot
    Roy, Shibendu Shekhar
    Pratihar, Dilip Kumar
    [J]. MECHANICAL AND AEROSPACE ENGINEERING, PTS 1-7, 2012, 110-116 : 2730 - +
  • [7] Dynamic Modeling and Optimal Foot Force Distribution of Quadruped Walking Robot
    Agarwal, Abhishek
    Gautam, Praveen Kumar
    Roy, Shibendu Shekhar
    [J]. TRENDS IN INTELLIGENT ROBOTICS, 2010, 103 : 146 - 153
  • [8] Dynamic control of a biped walking robot
    Löffler, K
    Gienger, M
    Pfeiffer, F
    [J]. ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND MECHANIK, 2000, 80 : S357 - S358
  • [9] Dynamic Walking with a Soft Limb Robot
    Ansari, Yasmin
    Shoushtari, Ali Leylavi
    Cacucciolo, Vito
    Cianchetti, Matteo
    Laschi, Cecilia
    [J]. BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2015, 2015, 9222 : 13 - 25
  • [10] Dynamic Walking Experiments for Humanoid Robot
    Pajaziti, Arbnor
    Bajrami, Xhevahir
    Shala, Ahmet
    Likaj, Rame
    [J]. INTELLIGENT SYSTEMS AND APPLICATIONS, VOL 1, 2019, 868 : 866 - 880
12345