Loading [MathJax]/extensions/MathMenu.js
Planar sliding analysis of a biped robot in centroid acceleration space | IEEE Conference Publication | IEEE Xplore

Planar sliding analysis of a biped robot in centroid acceleration space


Abstract:

In this paper, a two-dimensional analysis of biped robot sliding dynamics is considered. First, the dynamics of a biped robot based on feet slip are derived using the Cou...Show More

Abstract:

In this paper, a two-dimensional analysis of biped robot sliding dynamics is considered. First, the dynamics of a biped robot based on feet slip are derived using the Coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a “triangle of sliding friction.” The triangle of sliding friction's characteristics are explained by focusing on comparison with the cone of friction, which has a similar state decision diagram. Moreover, the behavioral simulation of a concrete model 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of both legs.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information:

ISSN Information:

Conference Location: Chicago, IL, USA

References

References is not available for this document.