{"title":"Design of a Dynamic Simulator for a Biped Robot","authors":"D. Bravo M., C. F. Rengifo Rodas","doi":"10.1155/2021/5539123","DOIUrl":null,"url":null,"abstract":"Simulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satisfy lead to models described by hybrid algebraic differential equations. In this paper, a simulator was developed for a seven degrees of freedom planar biped robot, which was modeled using the Euler-Lagrange formulation. This model allowed the design and implementation of a control strategy for balance management, and the monitoring of articular reference paths are tested in the simulator before proceeding to implementation on the actual prototype.","PeriodicalId":45541,"journal":{"name":"Modelling and Simulation in Engineering","volume":null,"pages":null},"PeriodicalIF":0.8000,"publicationDate":"2021-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Modelling and Simulation in Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1155/2021/5539123","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 2
Abstract
Simulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satisfy lead to models described by hybrid algebraic differential equations. In this paper, a simulator was developed for a seven degrees of freedom planar biped robot, which was modeled using the Euler-Lagrange formulation. This model allowed the design and implementation of a control strategy for balance management, and the monitoring of articular reference paths are tested in the simulator before proceeding to implementation on the actual prototype.
期刊介绍：
Modelling and Simulation in Engineering aims at providing a forum for the discussion of formalisms, methodologies and simulation tools that are intended to support the new, broader interpretation of Engineering. Competitive pressures of Global Economy have had a profound effect on the manufacturing in Europe, Japan and the USA with much of the production being outsourced. In this context the traditional interpretation of engineering profession linked to the actual manufacturing needs to be broadened to include the integration of outsourced components and the consideration of logistic, economical and human factors in the design of engineering products and services.
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