Title :
The Design of Bionic Leg and Motion Simulation on Passive Dynamic Bipedal Robot
Author :
Shujie, Qiao ; Lumin, Chen ; Xinjie, Wang ; Rentao, Chen
Author_Institution :
Zhengzhou Univ. of Light Ind., Zhengzhou, China
Abstract :
To improve the walking stability of the passive bipedal robot with knees, a four-linkage multiaxial bionic knee is implemented in the robot leg, developing a new kind of passive-dynamic bipedal robot. A 3D dynamic simulation model of the robot walking on a slope is established in MSC. ADAMS and a numerical simulation is performed simultaneously. The robot´s smooth walking was achieved, which contributes to understand the nature dynamic characteristics of human walking, and provide a clue to improve the bipedal robot´s dynamic performance.
Keywords :
biocybernetics; legged locomotion; mobile robots; motion control; numerical analysis; robot kinematics; 3D dynamic simulation model; MSC.ADAMS; bionic leg; bipedal robot dynamic performance; four linkage multiaxial bionic knee; motion simulation; numerical simulation; passive dynamic bipedal robot; walking stability; Bionic Joints; Bipedal Robot; Passive Dynamic;
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location :
ChangSha
Print_ISBN :
978-0-7695-4286-7
DOI :
10.1109/ICDMA.2010.201
