Design and Simulation of Walking Operation of a Cassino Biped Locomotor

被引：11
|
作者：
Wang, Mingfeng [1 ]
Ceccarelli, Marco [1 ]
机构：
[1] Univ Cassino & South Latium, DiCEM, Lab Robot & Mechatron LARM, Cassino, FR, Italy
来源：
NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS | 2015年 / 24卷
关键词：
Biped locomotors; Tripod leg mechanisms; Biped walking; Dynamics simulation;
D O I：
10.1007/978-3-319-09411-3_65
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A mechanical design of a novel Cassino biped locomotor is presented through a dynamics walking simulation. The biped locomotor consists of two tripod leg mechanisms, whose 3-D model is elaborated in SolidWorks (R) environment. A planning of biped walking gait is performed with waist swinging. Dynamics simulation is carried out in MSC. ADAMS (R) environment, and results show that the proposed biped locomotor with proper input forces of linear actuators gives limited reaction forces between feet and ground, and has a practical and feasible walking ability on a flat ground.
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页码：613 / 621
页数：9
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