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Dynamics of biped robots during a complete gait cycle

By Hayder Al-Shuka

Dynamics of biped robots during a complete gait cycle

By Hayder Al-Shuka

- Default Title
Description
The aim of this book is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion. They could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-of freedom (DOFs) robotic systems (larger than six DOFs).
Product details
Binding:
Paperback
Number of Pages:
52
Release Date:
2025-11-03
Publication Date:
2025-11-03
Publisher:
LAP LAMBERT Academic Publishing
Languages:
Original: English
ISBN10:
6209188893
ISBN13:
9786209188893
Weight:
96 g
Height:
150 cm
Width:
220 cm
Thickness:
4 cm
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