Kazan (Volga region) Federal University, KFU
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FEDERAL UNIVERSITY
 
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3D MODELLING OF BIPED ROBOT LOCOMOTION WITH WALKING PRIMITIVES APPROACH IN SIMULINK ENVIRONMENT
Form of presentationInternational monographs
Year of publication2016
Языканглийский
  • Magid Evgeniy Arkadevich, author
  • Bibliographic description in the original language Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev, and Evgeni Magid. 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In Lecture Notes in Electrical Engineering (LNEE), vol.383(30), In Informatics in Control, Automation and Robotics 12th International Conference 2015, revised selected papers, Springer International Publishing, 2016, pp. 287-304
    Annotation In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints.
    Keywords Biped robot, Robot locomotion, Walking primitives, Dynamic stability, Modelling, Simulink, AR-601M robot
    URL http://link.springer.com/chapter/10.1007/978-3-319-31898-1_16
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=150435&p_lang=2

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