Dadash Zadeh, B., Allahverdizadeh, A., Esmaeili, M. and Fekrmandi, H., 2020. A Case Study on Influence of Utilizing Hill-type Muscles on Mechanical Efficiency of Biped Running Gait. International Applied Mechanics, 56 (4), 512-521.
Full text available as:
|
PDF
Influence of Utilizing Hill-type Muscles on Mechanical Efficiency of Biped Running.pdf - Accepted Version Available under License Creative Commons Attribution Non-commercial. 1MB | |
Copyright to original material in this document is with the original owner(s). Access to this content through BURO is granted on condition that you use it only for research, scholarly or other non-commercial purposes. If you wish to use it for any other purposes, you must contact BU via BURO@bournemouth.ac.uk. Any third party copyright material in this document remains the property of its respective owner(s). BU grants no licence for further use of that third party material. |
DOI: 10.1007/s10778-020-01033-7
Abstract
The presence of compliant elements in biped running mechanisms generates a smoother motion and decreases the impact forces. Biological creatures that have a complicated actuation system with parallel and series elastic elements in their muscles demonstrate very efficient and robust bipedal gaits. The main difficulty of implementing these systems is duplicating their complicated dynamics and control. This paper studies the effects of an actuation system, including Hill-type muscles on the running efficiency of a kneed biped robot model with point feet. In this research, we implement arbitrary trajectories compatible with the initial condition of the robot, and we calculate the necessary muscle forces using an analytical inverse dynamics model. To verify the results, we execute the direct dynamics of the robot with the calculated control inputs to generate the robot’s trajectory. Finally, we calculate the contractile element force of the muscles and its cost of transport, and we investigate the effects of the muscles’ elements on reducing or increasing the cost of transport of the gait and maximum actuating forces.
Item Type: | Article |
---|---|
ISSN: | 1063-7095 |
Uncontrolled Keywords: | biped running; gait planning; hill-type muscle; cost of transport |
Group: | Faculty of Science & Technology |
ID Code: | 39672 |
Deposited By: | Symplectic RT2 |
Deposited On: | 09 Apr 2024 11:12 |
Last Modified: | 09 Apr 2024 11:18 |
Downloads
Downloads per month over past year
Repository Staff Only - |