Simulation results of operation of a new biped mechanism
by Marco Ceccarelli; Tao Li
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 2, No. 1, 2014

Abstract: A new biped mechanism with low-cost easy-operation features is proposed with only seven degrees of freedom (DOF). The mechanism is designed with motion capabilities for straight walking, changing direction, overcoming obstacle, and climbing stairs. Dynamics properties of this biped mechanism are analysed by means of simulations in MSC.ADAMS environment. Simulation results are reported in terms of motion torque, joint force, contact force, parts displacement, velocity and acceleration. They are discussed to characterise dynamical motion performance and walking feasibility.

Online publication date: Sat, 30-Aug-2014

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