Open AccessFoot trajectory analysis of a robotic leg
Author(s) -
M J Koushik,
M. Krishna,
R Rahul,
Pramod Sreedharan
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2070/1/012172
Subject(s) - kinematics , trajectory , foot (prosody) , matlab , computer science , robot , degrees of freedom (physics and chemistry) , software , simulation , control theory (sociology) , artificial intelligence , physics , philosophy , linguistics , control (management) , classical mechanics , quantum mechanics , astronomy , programming language , operating system
When it comes to walking robots, foot trajectory is a crucial element that can significantly influence the efficiency of the walking robot. This paper analyses the various foot return trajectories, which can provide higher step length while consuming less power. It is done through mathematical analysis and verified using simulations in software such as MSC Adams and Solidworks. This paper also discusses the kinematic and dynamic analysis of the two degrees of freedom leg using theoretical approaches in MATLAB and verifies the results using the simulation in MSC Adams.