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Modeling and Optimized Gait Planning of Biped Robots with Different Leg Mechanisms.

Dadash Zadeh, B., Allahverdizadeh, A. and Azhdarzadeh, M., 2022. Modeling and Optimized Gait Planning of Biped Robots with Different Leg Mechanisms. International Journal of Modelling, Identification and Control, 37 (2).

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This research focuses on modeling and gait generation optimization of four different real biped models that include practical extended models of the theoretical SLIP and compass gait as a novelty of the work. The first model is kneed Biped model without spring that is a 5-rigid-link robot with four actuators in its hip and knees. The second model, kneed biped model with springs in shins is very similar to the first model, but its shins have linear springs. The 3rd model is a semi-telescopic springy biped model and the 4th model is a semi-compass gait with kneed swing leg. Optimization parameters of their walking gait, objective functions and constraints are presented and successive stages of optimization are completed to find the optimal gaits. The efficiency of the gaits and required motor torques for the optimal gait of each model are illustrated.

Item Type:Article
Uncontrolled Keywords:biped robot; walking; dynamic modelling; gait planning; optimisation; leg mechanism; kneed; semi-telescopic; semi-compass
Group:Faculty of Science & Technology
ID Code:39671
Deposited By: Symplectic RT2
Deposited On:05 Apr 2024 10:55
Last Modified:05 Apr 2024 10:55


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