Kinematic analysis and modelling of biped locomotion systems

Detalhes bibliográficos
Autor(a) principal: Silva, Filipe Miguel
Data de Publicação: 1999
Outros Autores: Machado, J. A. Tenreiro
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/8899
Resumo: This paper presents the kinematic study of robot biped locomotion systems. the mais purpose is to determine 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 locomotions variables: step lenght, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequancy 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 analysis and modelling of biped locomotion systemsBiped locomotionMotion variablesKinematicsMotion planningPerformance measureThis paper presents the kinematic study of robot biped locomotion systems. the mais purpose is to determine 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 locomotions variables: step lenght, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequancy response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.Repositório Científico do Instituto Politécnico do PortoSilva, Filipe MiguelMachado, J. A. Tenreiro2016-12-20T14:50:48Z19991999-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/8899eng0100-738610.1590/S0100-73861999000300003info: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:RCAAP2023-03-13T12:48:57Zoai:recipp.ipp.pt:10400.22/8899Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:41.266351Repositório 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 analysis and modelling of biped locomotion systems
title Kinematic analysis and modelling of biped locomotion systems
spellingShingle Kinematic analysis and modelling of biped locomotion systems
Silva, Filipe Miguel
Biped locomotion
Motion variables
Kinematics
Motion planning
Performance measure
title_short Kinematic analysis and modelling of biped locomotion systems
title_full Kinematic analysis and modelling of biped locomotion systems
title_fullStr Kinematic analysis and modelling of biped locomotion systems
title_full_unstemmed Kinematic analysis and modelling of biped locomotion systems
title_sort Kinematic analysis and modelling of biped locomotion systems
author Silva, Filipe Miguel
author_facet Silva, Filipe Miguel
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 Miguel
Machado, J. A. Tenreiro
dc.subject.por.fl_str_mv Biped locomotion
Motion variables
Kinematics
Motion planning
Performance measure
topic Biped locomotion
Motion variables
Kinematics
Motion planning
Performance measure
description This paper presents the kinematic study of robot biped locomotion systems. the mais purpose is to determine 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 locomotions variables: step lenght, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequancy response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
publishDate 1999
dc.date.none.fl_str_mv 1999
1999-01-01T00:00:00Z
2016-12-20T14:50:48Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/8899
url http://hdl.handle.net/10400.22/8899
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0100-7386
10.1590/S0100-73861999000300003
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.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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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
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