This paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC.ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well.
Design and simulated characteristics of a new biped mechanism
CECCARELLI, Marco
2014-01-01
Abstract
This paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC.ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
