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Forward and inverse dynamics of the Biped PASIBOT

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dc.affiliation.areaUC3M. Área de Ingeniería Mecánicaes
dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: MAQLAB: Laboratorio de Máquinases
dc.contributor.authorCorral Abad, Eduardo
dc.contributor.authorMeneses Alonso, Jesús
dc.contributor.authorCastejón Sisamón, Cristina
dc.contributor.authorGarcía Prada, Juan Carlos
dc.date.accessioned2023-02-01T08:38:58Z
dc.date.available2023-02-01T08:38:58Z
dc.date.issued2014-07
dc.description.abstractThis article addresses the supporting foot slippage of the biped robot PASIBOT and develops its forward and inverse dynamics for simple and double support phases. To address the slippage phenomenon, we consider an additional degree of freedom at the supporting foot and also distinguish between static and kinetic friction conditions. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB. The algorithm predicts the motion of the biped from the torque function given by the biped's sole motor. Thus, the algorithm becomes an indispensable tool for studying transient states of the biped (for example, the torques required for starting and braking), as well as defining the conditions that prevent or control slippage. Since the developed code is parametric, its output can greatly assist in the design, optimization and control of PASIBOT and similar biped robots. The topology, kinematics and inverse dynamics of the one-degree-of-freedom biped PASIBOT have been previously described, but without regard to slippage between the supporting foot and the ground.en
dc.format.extent9
dc.identifier.bibliographicCitationCorral, E., Meneses, J., Castejón, C. & García-Prada, J. C. (2014). Forward and Inverse Dynamics of the Biped PASIBOT. International Journal of Advanced Robotic Systems, 11(7).en
dc.identifier.doihttps://doi.org/10.5772/58537
dc.identifier.issn1729-8806
dc.identifier.publicationfirstpage1
dc.identifier.publicationissue7
dc.identifier.publicationlastpage9
dc.identifier.publicationtitleInternational Journal of Advanced Robotic Systemsen
dc.identifier.publicationvolume11
dc.identifier.urihttps://hdl.handle.net/10016/36432
dc.identifier.uxxiAR/0000015479
dc.language.isoeng
dc.publisherSAGE
dc.rights© 2014 The Author(s). Licensee InTech.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherBipeden
dc.subject.otherForward dynamicsen
dc.subject.otherMechanism analysisen
dc.subject.otherSlippageen
dc.titleForward and inverse dynamics of the Biped PASIBOTen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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