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Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Published online by Cambridge University Press:  01 March 2008

Aleksandar Rodić ,
Miomir Vukobratović ,
Khalid Addi  and
Georges Dalleau
Aleksandar Rodić*
Affiliation:
Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia.
Miomir Vukobratović
Affiliation:
Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia.
Khalid Addi
Affiliation:
IREMIA, Reunion Island University, Sait Denis Cedex, France.
Georges Dalleau
Affiliation:
CURAPS-DIMPS, Reunion Island University, Le Tampon, France.
*
*Corresponding author. Email: roda@robot.imp.bg.ac.yu
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Summary

This paper suggests a generalized approach to the mathematical modeling of biped locomotion systems (humans or humanoid robots) with special attention paid to impact and contact dynamics. Instead of the usual inductive approach that starts from the analysis of different situations of real motion (walking, running, jumping, climbing the stairs, etc.) and tries to make a generalization, a deductive approach is pursued, whereby an entirely general problem is considered. Impact dynamics is modeled applying the linear complementarity problem (LCP) formulation. General methodology is explained and demonstrated via the synthesis of a spatial biped model. The validity of the modeling approach is proved by experimental measurements on a human subject in the laboratory conditions. Plenty of graphic presentations illustrating experimental results, as well as the results of the corresponding simulation tests are shown.

Keywords

Mathematical modelingBiped locomotionContact dynamicsBody impactsLinear complementarity problem (LCP)
Type
Article
Information
Robotica , Volume 26 , Issue 2 , March 2008 , pp. 157 - 175
Copyright
Copyright © Cambridge University Press 2007

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