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2013 | OriginalPaper | Buchkapitel

Using the Center of Percussion to Simplify a Biped to Four Point Masses

verfasst von : M. Alba, J. C. Garcia Prada, C. Castejon

Erschienen in: New Trends in Mechanism and Machine Science

Verlag: Springer Netherlands

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Abstract

In this paper a novel strategy to construct a dynamically equivalent model of a biped robot is proposed. The model is composed by four point masses, one at the hip, one at each leg and one at the group composed by the head, arms and trunk. The masses are located at the center of percussion of each group. The method to obtain the equivalent model is described, and such a model is obtained out of a biped with parameters close to a human being. Once the equivalent model is obtained, it is validated by performing a decoupling of the dynamics of the biped and testing it using step inputs. The decoupling is done using the information provided by the equivalent model. Finally with the decoupled dynamics, the undamped natural frequency of each group (they are the both legs and the head, arms and trunk group) is calculated to confirm that each controller behaves linearly.

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Vorheriges Kapitel Industry-Oriented Performance Measures for Design of Robot Calibration Experiment

Nächstes Kapitel Study of the Contact Force Model on the Dynamic Response of a Four-Bar Mechanism with Clearance Joints

This group is often called HAT, that stands for head, arms and trunk.

The groups are the HAT group, and the swing leg.

Notice that the reference is not inertial, therefore there are several components of the acceleration not considered here. To solve this problem, the error is minimized by the corresponding PD control action.

The gains are selected to produce fast swinging of one leg, while the other gains are low enough to be sensible to the perturbations produced by the swinging leg.

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Titel: Using the Center of Percussion to Simplify a Biped to Four Point Masses
verfasst von: M. Alba
J. C. Garcia Prada
C. Castejon
Verlag: Springer Netherlands
Buch: New Trends in Mechanism and Machine Science
Print ISBN: 978-94-007-4901-6

Electronic ISBN: 978-94-007-4902-3

Copyright-Jahr: 2013
DOI: https://doi.org/10.1007/978-94-007-4902-3_56

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