Hydraulic Bipedal Robots Locomotion Mathematical Modeling

The paper delivered describes a new approach into kinematics and dynamics of the robots with a tree-like kinematic structure based on the elements of graph theory. Block-matrix equation for robot's movement within generalized coordinates is valid for different tree-like kinematic structures with no change in tracing. It permits to develop generalized software for the whole class of tree-like kinematic structure. Some of the modelling details in hydraulic actuator of bipedal robot are submitted. Experimental research data of robot's walking based on mathematical modelling are compared to those of a pilot model. © 2015 The Authors. Published by Elsevier Ltd.

Authors
Kulakov D.B. 1, 2 , Semenov S.E.1 , Kulakov B.B. 1, 2 , Shcherbachev P.V.1 , Tarasov O.I.1
Journal
Procedia Engineering
Language
English
Pages
62-70
Status
Published
DOI
10.1016/j.proeng.2015.06.009
Volume
106
Year
2015
Organizations
  • 1 Bauman Moscow State Technical University, 2-d Baumanskaya str., 5, Moscow, 105005, Russian Federation
  • 2 Peoples Friendship University of Russia, 3, Ordjonikidze str., Moscow, 117923, Russian Federation
Keywords
Bipedal robot; electro hydraulic servo valve; partitioned matrix representation of dynamics
Date of creation
19.10.2018
Date of change
19.10.2018
Short link
https://repository.rudn.ru/en/records/article/record/4704/
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