Mathematical Simulation of Leg's a 5-Dof a Biped Robot

Mate  Csaba Zoltan; Faluvegi Erzsebet; Cristea Luciana

doi:10.4028/www.scientific.net/AMM.186.221

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 186Mathematical Simulation of Leg's a 5-Dof a Biped...

Mathematical Simulation of Leg's a 5-Dof a Biped Robot

Abstract:

This paper aims to present special issues concerning the analysis of mobile robots with kinematic motion effects on the stability study. In the analysis, the authors used inverse kinematics, which enables rapid modelling and identifying solutions as regards the stability of bipedal robots. The symbolic solution for kinematics equations of biped robots is of great importance for the efficient controllability of these robots. In recent years, numerous researches have been done based on simulation of legged mechanism, especially on biped robots simulation and control. The following article focuses on the biped robot simulation and control handle with the aid of mathematical modeling methods (in MATLAB)

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Periodical:

Applied Mechanics and Materials (Volume 186)

Pages:

221-226

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.186.221

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Online since:

June 2012

Authors:

Mate Csaba Zoltan, Faluvegi Erzsebet, Cristea Luciana

Keywords:

Biped Robot, Kinematics, Mechatronics, Simulation, Stability

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