In this chapter, design and simulation issues of legged walking robots have been addressed by using modeling and simulation in Matlab® environment. In particular, Matlab® is a powerful computation and simulation software package, which is quite useful for the design and operation performances evaluation of legged robotic systems. Three examples are illustrated and they have been studied for motion feasibility analysis and operation performances characterizations by taking advantages of Matlab® features. Contributions of this chapter can be indicated as follows. A kinematic study of a Chebyshev-Pantograph leg mechanism has been carried out, and equations are formulated in the Matlab® environment. From the reported simulation results, it shows that the practical feasible operation performance of the Chebyshev- Pantograph leg mechanism in a single DOF biped robot. Additionally, a parametric study has been developed by using the elaborated Matlab® analysis code to look for an optimized mechanical design and to determine an energy efficient walking gait. A novel biologically inspired tripod walking robot is proposed by defining suitable design and operation solution for leg mechanism. Simulation results show the proposed design performs a tripod walking gait successfully. Operation performance of the leg mechanisms and the tripod walking robot are reported and discussed by using results from Matlab® simulations. A new waist-trunk system for humanoid robots has been proposed by using suitable parallel architectures. The proposed system shows an anthropomorphic design and operation with several DOFs, flexibility, and high payload capacity. Simulation results show that the proposed waist-trunk system can well imitate movements of human torso for walking and manipulation tasks. Additionally, the proposed design has practical feasible operation performances from the reported simulation results.

Design and Simulation of Legged Walking Robots in MATLAB® Environment

CECCARELLI, Marco;CARBONE, Giuseppe
2011-01-01

Abstract

In this chapter, design and simulation issues of legged walking robots have been addressed by using modeling and simulation in Matlab® environment. In particular, Matlab® is a powerful computation and simulation software package, which is quite useful for the design and operation performances evaluation of legged robotic systems. Three examples are illustrated and they have been studied for motion feasibility analysis and operation performances characterizations by taking advantages of Matlab® features. Contributions of this chapter can be indicated as follows. A kinematic study of a Chebyshev-Pantograph leg mechanism has been carried out, and equations are formulated in the Matlab® environment. From the reported simulation results, it shows that the practical feasible operation performance of the Chebyshev- Pantograph leg mechanism in a single DOF biped robot. Additionally, a parametric study has been developed by using the elaborated Matlab® analysis code to look for an optimized mechanical design and to determine an energy efficient walking gait. A novel biologically inspired tripod walking robot is proposed by defining suitable design and operation solution for leg mechanism. Simulation results show the proposed design performs a tripod walking gait successfully. Operation performance of the leg mechanisms and the tripod walking robot are reported and discussed by using results from Matlab® simulations. A new waist-trunk system for humanoid robots has been proposed by using suitable parallel architectures. The proposed system shows an anthropomorphic design and operation with several DOFs, flexibility, and high payload capacity. Simulation results show that the proposed waist-trunk system can well imitate movements of human torso for walking and manipulation tasks. Additionally, the proposed design has practical feasible operation performances from the reported simulation results.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/18780
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