Казанский (Приволжский) федеральный университет, КФУ
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3D MODELLING OF BIPED ROBOT LOCOMOTION WITH WALKING PRIMITIVES APPROACH IN SIMULINK ENVIRONMENT
Форма представленияЗарубежные монографии
Год публикации2016
Языканглийский
  • Магид Евгений Аркадьевич, автор
  • Библиографическое описание на языке оригинала Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev, and Evgeni Magid. 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In Lecture Notes in Electrical Engineering (LNEE), vol.383(30), In Informatics in Control, Automation and Robotics 12th International Conference 2015, revised selected papers, Springer International Publishing, 2016, pp. 287-304
    Аннотация In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints.
    Ключевые слова Biped robot, Robot locomotion, Walking primitives, Dynamic stability, Modelling, Simulink, AR-601M robot
    URL http://link.springer.com/chapter/10.1007/978-3-319-31898-1_16
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