A computational mechatronics approach for the analysis, synthesis and design of a simple active biped robot: Theory and experiments | Zendy

Luis I. Lugo–Villeda | Zendy; Vicente ParraVega | Zendy

Open Access

A computational mechatronics approach for the analysis, synthesis and design of a simple active biped robot: Theory and experiments

Author(s) -

Luis I. Lugo–Villeda,

Vicente ParraVega

Publication year - 2006

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1533/abbi.2005.0053

Subject(s) - mechatronics , underactuation , biped robot , control engineering , simple (philosophy) , robot , process (computing) , scheme (mathematics) , computer science , simulation , path (computing) , degrees of freedom (physics and chemistry) , engineering , control theory (sociology) , control (management) , artificial intelligence , mathematical analysis , philosophy , physics , mathematics , epistemology , quantum mechanics , programming language , operating system

Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive) active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces

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