Kinematic Study of Biped Locomotion Systems

Detalhes bibliográficos
Autor(a) principal: Silva, Filipe M.
Data de Publicação: 1997
Outros Autores: Machado, J. A. Tenreiro
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/8805
Resumo: This paper presents the kinematic study of robotic biped locomotion systems. the main purspose is to determinate the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearence and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
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spelling Kinematic Study of Biped Locomotion SystemsBiped locomotionLocomotion variablesKinematicsMotion planningPerformance measureThis paper presents the kinematic study of robotic biped locomotion systems. the main purspose is to determinate the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearence and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.Chapman & HallRepositório Científico do Instituto Politécnico do PortoSilva, Filipe M.Machado, J. A. Tenreiro19972115-01-01T00:00:00Z1997-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttp://hdl.handle.net/10400.22/8805eng978-0-387-35086-8978-1-4757-6385-010.1007/978-0-387-35086-8_13info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:48:55Zoai:recipp.ipp.pt:10400.22/8805Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:38.791565Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Kinematic Study of Biped Locomotion Systems
title Kinematic Study of Biped Locomotion Systems
spellingShingle Kinematic Study of Biped Locomotion Systems
Silva, Filipe M.
Biped locomotion
Locomotion variables
Kinematics
Motion planning
Performance measure
title_short Kinematic Study of Biped Locomotion Systems
title_full Kinematic Study of Biped Locomotion Systems
title_fullStr Kinematic Study of Biped Locomotion Systems
title_full_unstemmed Kinematic Study of Biped Locomotion Systems
title_sort Kinematic Study of Biped Locomotion Systems
author Silva, Filipe M.
author_facet Silva, Filipe M.
Machado, J. A. Tenreiro
author_role author
author2 Machado, J. A. Tenreiro
author2_role author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Silva, Filipe M.
Machado, J. A. Tenreiro
dc.subject.por.fl_str_mv Biped locomotion
Locomotion variables
Kinematics
Motion planning
Performance measure
topic Biped locomotion
Locomotion variables
Kinematics
Motion planning
Performance measure
description This paper presents the kinematic study of robotic biped locomotion systems. the main purspose is to determinate the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearence and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
publishDate 1997
dc.date.none.fl_str_mv 1997
1997-01-01T00:00:00Z
2115-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/8805
url http://hdl.handle.net/10400.22/8805
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-0-387-35086-8
978-1-4757-6385-0
10.1007/978-0-387-35086-8_13
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Chapman & Hall
publisher.none.fl_str_mv Chapman & Hall
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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