FEASIBILTY ANALYSIS OF WALKING OF PASSIVE DYNAMIC BIPED ROBOT
Journal Title: JOURNAL OF ADVANCES IN MATHEMATICS - Year 2015, Vol 10, Issue 3
Abstract
Passive dynamic walking is an essential development for the biped robots. So the focus of our work is a systematic analysis of the passive walk of a planar biped robot on an inclined slope. The dynamics of passive biped robot is only caused of gravity. The biped robot with two point masses at kneeless legs and a third point mass at the hip-joint is kinematically equivalent to a double pendulum. In this paper, we represent a general method for developing the equations of motion and impact equations for the study of multi-body systems, as in bipedal models. The solution of this system depends on the initial conditions. But it is difficult to find the proper initial conditions for which the system has solutions, in other words, the initial conditions for which the robot can walk. In this paper, we describe the cell mapping method which able to compute the feasible initial conditions for which the biped robot can move forward on the inclined ramp. The results of this method described the region of feasible initial conditions is small and bounded. Moreover, the results of cell mapping method give the fixed of Poincare map which explains the symmetric gait cycle of the robot and describe the orientation of legs of robot.
Authors and Affiliations
Nita H. Shah, Mahesh Yeolekar
Keywords
Related Articles
- EP ID EP651481
- DOI 10.24297/jam.v10i3.1547
- Views 122
- Downloads 0
MEAN CURVATURE FLOW OF SUBMANIFOLDS WITH SMALL TRACELESS SECOND FUNDAMENTAL FORM
Consider a family of smooth immersions F(; t) : Mn Mn+k of submanifolds in Mn+k moving by mean curvature flow = , where is the mean curvature vector for the evolving submanifold. We prove that for any n...
On the Remes Algorithm for Rational Approximations
This paper is concerned with the minimax approximation of a discrete data set by rational functions. The second algorithm of Remes is applied. A crucial stage of this algorithm is solving the nonlinear system of leveling...
Some Universal Constructions For I- Fuzzy Topological Spaces
Geetha S. [J. Math. Anal. Appl. 174 (1993), 147-152] has introduced the concept of I-fuzzy topological spaces X,mu,F)where X is an ordinary set, mu is a fuzzy set in X and F is a family of fuzzy sets in X satisfyin...
Remarks on a Recent General Even-Tupled Coincidence Theorem
In this note, we present a sharpened form of a recent general even-tupled coincidence theorem due to Imdad et al: (Journal of Operators, Volume 2013 (2013) Art. ID 532867, 8 pp.) and also furnish a proof which also...
A Moment inequality to class used better than aged in convex ordering upper tail (UBACT) of life distributions and its applications
The class of life distributions used better than aged in convex order upper tail ordering (UBACT) is introduced. A Moment inequality to this class (UBACT) of life distribution is given. In addition testing exponentiality...