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Kinematic and dynamic simulation of biped robot locomotion on multi-terrain surfaces

Publication Type : Conference Paper

Source : IOP Conference Series: Materials Science and Engineering 577(1), 2019

Url : https://iopscience.iop.org/article/10.1088/1757-899X/577/1/012094

Campus : Amritapuri

School : School of Engineering

Department : Mechanical Engineering

Year : 2019

Abstract : Locomotion of Bipedal Robot has been the major topic of research in recent years. Still, the stability and control of locomotion of these robots on various terrains have not fully uncovered. The aim of the current work is to design a force feedback controller, which takes account of contact forces between foot and ground while the robot is in locomotion. This paper will focus on the variation of the contact forces on different terrains and effects of friction over these contact forces while the robot is in locomotion. The kinematic and dynamic constraints that are formulated are simulated using MATLAB (SimMechanics).

Cite this Research Publication : Viswanadh, C., Sarkar, A., Sreedharan, P., “Kinematic and dynamic simulation of biped robot locomotion on multi-terrain surfaces”, IOP Conference Series: Materials Science and Engineering 577(1), 2019

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