Design of Humanoid’s Lower Limb Model for Walking

Mikuláš Hajduk; Marek Sukop; Lubos Marko; Jozef Varga; Vladimír Baláž

doi:10.4028/www.scientific.net/AMR.463-464.1224

Paper Titles

CAD-Geometrical Modeling of a Hydro Mechanical Product
p.1206

Comparative Analysis of ZMP for Biped Robot and Human Plantar Pressure
p.1210

Design and Modeling of a Ball Wheel Mobile Robot
p.1215

Design of Digital Controllers for Permanent Magnet Torque Motors
p.1219

Design of Humanoid’s Lower Limb Model for Walking
p.1224

Design of Power Quality Monitoring System
p.1228

Designing Arms and Hands for the Humanoid Robot ROMAN
p.1233

Distributed Task Allocation in Multi-Robot Systems Using Argumentation-Based Negotiation
p.1238

Dynamic Analysis of a Mobile Mechanical System with Deformable Elements
p.1242

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 463-464Design of Humanoid’s Lower Limb Model for Walking

Design of Humanoid’s Lower Limb Model for Walking

Abstract:

This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 463-464)

Pages:

1224-1227

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.463-464.1224

Citation:

Cite this paper

Online since:

February 2012

Authors:

Mikuláš Hajduk, Marek Sukop, Lubos Marko, Jozef Varga, Vladimír Baláž

Keywords:

COG-Center of Gravity, Humanoid Robot, Phases of Step

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] NEMEC, M.: Návrh bipedálneho kráčajúceho podvozku servisného robota, doktorandská dizertačná práca, KVTaR, SjF TUKE, Košice (2005).

Google Scholar

[2] Olaru,A.: Virtual LabVIEW instrumentation in the technical research of the robots elements and the systéme, Bren P Publishing, ISBN 973-648-088-07 Bucharest (2002).

Google Scholar

[3] ČIRIP, M; HAJDUK, M.: Návrh stabilizácie a matematických modelov kráčania humanoidných robotov : písomná práca k dizertačnej skúške, Košice, 2010. - 47 s.

Google Scholar

[4] HAJDUK, M.; MARKO, Ľ.: Prístupy k navrhovaniu a riadenia exoskelotonu : písomná práca k dizertačnej skúške, Košice, 2010. - 47 s. :. - ISBN (brož. ).

Google Scholar

[5] JONG HWAN KIM; PRAHLAD, V.: Trends in Intelligent robotics: 13th FIRA Robot World Congress, FIRA 2010 Bangalore, India, September 15 – 17, 2010 Proceedings, ISSN 1865 – 0929, ISBN – 10 3-642-15809-9, Springer Berlin Heidelberg New York (2010).

DOI: 10.1007/978-3-642-15810-0_15

Google Scholar

[6] RISTIĆ D: RoboWalker Mobile Robot – Assisted Gait Rehabilitation System, Durrant (2010).

Google Scholar