Open AccessKinematic and dynamic simulation of biped robot locomotion on multi-terrain surfaces
Author(s) -
Chegu Viswanadh,
Abhishek Sarkar,
Pramod Sreedharan
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/577/1/012094
Subject(s) - terrain , kinematics , robot , robot locomotion , contact force , computer science , work (physics) , controller (irrigation) , control theory (sociology) , simulation , focus (optics) , control engineering , engineering , robot control , mobile robot , artificial intelligence , physics , mechanical engineering , control (management) , classical mechanics , geography , cartography , agronomy , optics , biology
Locomotion of Bipedal Robot has been the major topic of research in recent years. Still, the stability and control of locomotion of these robots on various terrains have not fully uncovered. The aim of the current work is to design a force feedback controller, which takes account of contact forces between foot and ground while the robot is in locomotion. This paper will focus on the variation of the contact forces on different terrains and effects of friction over these contact forces while the robot is in locomotion. The kinematic and dynamic constraints that are formulated are simulated using MATLAB (SimMechanics).