By Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Yannick Aoustin
Chapter 1 Bipedal Robots and strolling (pages 1–45):
Chapter 2 Kinematic and Dynamic types for jogging (pages 47–126):
Chapter three layout instruments for Making Bipedal Robots (pages 127–217):
Chapter four strolling trend turbines (pages 219–265):
Chapter five regulate (pages 267–326):
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Extra resources for Bipedal Robots: Modeling, Design and Walking Synthesis
Approche biomimétique pour la conception et la simulation du comportement et la simulation du comportement dynamique de robots bipeds, PhD. Thesis, Pierre and Marie Curie University, 1998. , Amputation de cuisse chez l’adulte actif: Plaidoyer pour le CATCAM, PhD Thesis, Besançon School of Medicine and Pharmacology, 1994. , “The determinants of the step frequency in walking in humans”, Journal of Physiology, vol. 373, 235–242, 1986. , Etude et réalisation d’une commande position-force d’un robot bipède, PhD Thesis, University Louis Pasteur of Strasbourg, 1993.
Each of its legs has 7 articulations, 4 articulations placed at the pelvis and trunk and the remaining 23 in its arms and neck. The majority of the joints are activated by the Harmonic Drive gearbox, coupled with DC motors. Each foot is equipped with a force sensor with 6 components and the control is based on the ZMP feedforward drive (see Chapter 5). 96 s per step. Among the most interesting of Japanese research, the work of Sano and Furusho’s team is of particular interest [SAN 90, SAN 91]. From 1984 to 1988 they worked on the BLR-G2 robot which had 9 DoF and was controlled by DC motors.
This biped has a three-dimensional kinematic architecture and has 16 degrees of motorized freedom. 30 m high. The foot is made up of an articulated forefoot along a transversal axis moved with a compliant link. The trunk is made up of a mechanism which activates three mobile masses so that it can make weight transfers in three directions. The hip module is made up of a parallel kinematic system which enables the activation of its three DoF. Two linear actuators create movements of abduction-adduction and internal-external rotation.