Modelling and design of ten degree-of-freedom bipedal robot

被引：0
|
作者：
Canderle, J [1 ]
Artrit, P [1 ]
Caldwell, DG [1 ]
机构：
[1] Univ Salford, Dept Elect Engn, Manchester, Lancs, England
来源：
CLIMBING AND WALKING ROBOTS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the development of a walking bipedal robot powered by pneumatic Muscle Actuators (pMA). The design of the robot follows a biomimetic approach. This paper investigates the modelling of the system's torques at all the joints and the possible damping effect introduced by chosen actuators. The paper then discusses the control aspects transferred from another recently completed project, the design of quadruped robot. Finally the modelling aspects and simulation (implemented in Matlab) are presented and the results discussed.
引用
收藏
页码：223 / 230
页数：8
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