Impact Dynamics and Parametric Analysis of Planar Biped Robot

被引：0
|
作者：
Li, Long [1 ]
Xie, Zhongqu [1 ]
Luo, Xiang [1 ]
机构：
[1] Southeast Univ, Sch Mech Engn, Nanjing, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 2018 25TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2018年
关键词：
biped robot; impact dynamics; contact effect; double impact; single impact; WALKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, impact dynamics of general planar biped walking robots are studied. Based on integration method, explicit solutions for external impulses and generalized velocity changes are obtained in a detailed form for both single and double impact. And the conditions for single and double impact are proposed. So given a state just before impact, one can predict the impact type and the state of biped robot just after impact. The relation between single and double impact is developed and a novel method is proposed to distinguish between single and double impact. Next parametric analysis is carried out for a planar five-link biped robot. The result shows that double impact with no-slip hardly happens whereas single impact with no-slip frequently happens for normal biped walking in practice application.
引用
收藏
页码：97 / 102
页数：6
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