Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

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dc.contributor.author Corral Abad, Eduardo
dc.contributor.author Gómez García, María Jesús
dc.contributor.author Castejón Sisamón, Cristina
dc.contributor.author Meneses Alonso, Jesús
dc.contributor.author Gismeros Moreno, Raul
dc.date.accessioned 2021-07-15T11:34:58Z
dc.date.available 2021-07-15T11:34:58Z
dc.date.issued 2020-04-01
dc.identifier.bibliographicCitation Corral, E., García, M. G., Castejon, C., Meneses, J. & Gismeros, R. (2020). Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot. Applied Sciences, 10(7), 2342.
dc.identifier.issn 2076-3417
dc.identifier.uri http://hdl.handle.net/10016/33090
dc.description This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems.
dc.description.abstract This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model.
dc.description.sponsorship This work was financially supported by the Spanish Government through the MCYT project "RETOS2015: sistema de monitorización integral de conjuntos mecánicos críticos para la mejora del mantenimiento en el transporte-maqstatus"
dc.format.extent 16
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2020 by the authors.
dc.rights Atribución 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by/3.0/es/
dc.subject.other Passive model
dc.subject.other Biped walking
dc.subject.other Impact and contact
dc.subject.other Friction force
dc.subject.other Dissipative force
dc.title Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot
dc.type article
dc.subject.eciencia Ingeniería Mecánica
dc.identifier.doi https://doi.org/10.3390/app10072342
dc.rights.accessRights openAccess
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 1
dc.identifier.publicationissue 7
dc.identifier.publicationlastpage 16
dc.identifier.publicationtitle Applied Sciences
dc.identifier.publicationvolume 10
dc.identifier.uxxi AR/0000025061
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