Open AccessKinematic analysis and modelling of biped locomotion systems
Author(s) -
Filipe Silva,
J. A. Tenreiro Machado
Publication year - 1999
Publication title -
revista brasileira de ciências mecânicas
Language(s) - English
Resource type - Journals
ISSN - 0100-7386
DOI - 10.1590/s0100-73861999000300003
Subject(s) - kinematics , robustness (evolution) , control theory (sociology) , computer science , work (physics) , terrestrial locomotion , motion analysis , perturbation (astronomy) , simulation , measure (data warehouse) , mathematics , engineering , physics , artificial intelligence , geology , paleontology , biochemistry , chemistry , classical mechanics , quantum mechanics , database , gene , mechanical engineering , control (management)
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion