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.

Авторы
Kulakov D.B. 1, 2 , Semenov S.E.1 , Kulakov B.B. 1, 2 , Shcherbachev P.V.1 , Tarasov O.I.1
Редакторы
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Сборник материалов конференции
Издательство
Elsevier Ltd
Номер выпуска
-
Язык
Английский
Страницы
62-70
Статус
Опубликовано
Подразделение
-
Ссылка
-
Номер
-
Том
106
Год
2015
Организации
  • 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
Ключевые слова
Bipedal robot; electro hydraulic servo valve; partitioned matrix representation of dynamics
Дата создания
19.10.2018
Дата изменения
19.10.2018
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/4704/