Robot Dynamics and Control
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Convergence Properties of the Nelder--Mead Simplex Method in Low Dimensions
SIAM Journal on Optimization
Convergence of the Nelder--Mead Simplex Method to a Nonstationary Point
SIAM Journal on Optimization
Springer Handbook of Robotics
Comparison of different gaits with rotation of the feet for a planar biped
Robotics and Autonomous Systems
Generation of optimal trajectory for biped robots with knees stretched
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Effects of compliant ankles on bipedal locomotion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Modeling, stability and control of biped robots-a general framework
Automatica (Journal of IFAC)
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The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and sliding, and therefore the design of new bio-inspired knees is of utmost importance for the reproduction of anthropomorphic walking in the sagittal plane. In this article, the kinematic characteristics of knees were analyzed and a mechanical solution for reproducing them is proposed. The geometrical, kinematic and dynamic models are built together with an impact model for a biped robot with the new knee kinematic. The walking gait is studied as a problem of parametric optimization under constraints. The trajectories of walking are approximated by mathematical functions for a gait composed of single support phases with impacts. Energy criteria allow comparing the robot provided with the new rolling knee mechanism and a robot equipped with revolute knee joints. The results of the optimizations show that the rolling knee brings a decrease of the sthenic criterion. The comparisons of torques are also observed to show the difference of energy distribution between the actuators. For the same actuator selection, these results prove that the robot with rolling knees can walk longer than the robot with revolute joint knees.