Impact dynamics in biped locomotion analysis:  Two modelling and implementation approaches

Khalid Addi; Aleksandar D. Rodić; Khalid Addi; Aleksandar D. Rodić

doi:10.3934/mbe.2010.7.479

Mathematical Biosciences and Engineering

2010, Volume 7, Issue 3: 479-504. doi: 10.3934/mbe.2010.7.479

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Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches

1.
University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde
2.
Robotics department, Mihajlo Pupin Institute, University of Belgrade, Zvezdara, Volgina 15, 11060 Belgrade

Received: 01 September 2009 Accepted: 29 June 2018 Published: 01 June 2010
MSC : 90C33, 70E18, 37M05.

Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.
- Linear Complementarity Problem,
- unilateral contact,
- impact dynamics,
- Nonsmooth dynamical systems,
- impedance model.,
- humanoid robots
Citation: Khalid Addi, Aleksandar D. Rodić. Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches[J]. Mathematical Biosciences and Engineering, 2010, 7(3): 479-504. doi: 10.3934/mbe.2010.7.479

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Abstract

Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.
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