Biped Running Robots Dynamics Modeling and Path Generation

Design and simulation of two running biped robots is addressed in this paper, called Robot and Robot I . The robots consist of 9 links. All joints of Robot I are rotary joints and only the knee joints of Robot II are prismatic. All physical characteristics of robots bodies are as like as human bodies are. It is assumed that: 1- all joints are friction-free 2- all joints are driven by an independent driver 3- motion of all links occurs in sagittal plane (2D motion). Firstly, kinematical equations of links are derived. Then equations of motion of each robot are derived, using Lagrange method, in two main phases of running, i.e., single support and flight. For making trajectory of the robots' path with the given break points of hip and two ankles, third-order spline method has been used. Then, using inverse kinematics equations of each robot, trajectories of link angles are calculated. Required torques and forces of the robots' joints and power and energy consumption for passing through these trajectories were calculated by writing some programs in MATLAB. Also, a graphical simulation, in MATLAB, has been used for visual observation of the robots motion. Finally, effect of upper body motion i.e. hands on running, is discussed and addressed.

کلیدواژه ها:

Biped Robot ، Running ، Dynamics ، Trajectory ، Energy