A mechanical design of a novel Cassino biped locomotor is presented through a dynamics walking simulation. The biped locomotor consists of two tripod leg mechanisms, whose 3-D model is elaborated in SolidWorks® environment. A planning of biped walking gait is performed with waist swinging. Dynamics simulation is carried out in MSC.ADAMS® environment, and results show that the proposed biped locomotor with proper input forces of linear actuators gives reaction forces between feet and ground, and has a practical and feasible walking ability on a flat ground.

Design and Simulation of Walking Operation of a Cassino Biped Locomotor

CECCARELLI, Marco
2014-01-01

Abstract

A mechanical design of a novel Cassino biped locomotor is presented through a dynamics walking simulation. The biped locomotor consists of two tripod leg mechanisms, whose 3-D model is elaborated in SolidWorks® environment. A planning of biped walking gait is performed with waist swinging. Dynamics simulation is carried out in MSC.ADAMS® environment, and results show that the proposed biped locomotor with proper input forces of linear actuators gives reaction forces between feet and ground, and has a practical and feasible walking ability on a flat ground.
2014
978-3-319-09411-3
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/36841
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