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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


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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Keywords 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. Mathematical Biosciences and Engineering, 2010, 7(3): 479-504. doi: 10.3934/mbe.2010.7.479


This article has been cited by

  • 1. Marija Tomic, Veljko Potkonjak, Aleksandar Rodic, Vesna Antoska, Human-and-Humanoid Motion - Distinguish Between Safe and Risky Mode, IFAC Proceedings Volumes, 2012, 45, 22, 524, 10.3182/20120905-3-HR-2030.00070

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