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Kinematic and dynamic performance analysis of artificial legged systems

Published online by Cambridge University Press:  01 January 2008

Manuel F. Silva  and
J. A. Tenreiro Machado
Manuel F. Silva*
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal.
J. A. Tenreiro Machado
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal.
*
*Corresponding author. E-mail: mss@isep.ipp.pt
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Summary

This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the system performance during walking, and the best set of locomotion variables that minimize a set of optimization indices. In this perspective, two kinematic and four dynamic indices are formulated to quantitatively measure the performance of the walking robot. The kinematic indices consist of the perturbation analysis and the locomobility measure, and the dynamic performance indices of the walking robot locomotion are the mean absolute density of energy, the mean power density dispersion, the density of power lost and the mean force at the body-legs interface. A set of model-based simulation experiments reveals the system configuration and the type of movements that lead to a better performance, for a specific locomotion mode, from the viewpoint of the proposed indices.

Keywords

RoboticsWalkingLegged locomotionDynamic modellingKinematicsSimulation
Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 19 - 39
Copyright
Copyright © Cambridge University Press 2007

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