Modelling and simulation of artificial locomotion systems

Authors:
Manuel F. Silva;J. A. Tenreiro Machado;António M. M. Lopes
Affiliations:
Department of Electrical Engineering, Institute of Engineering of Porto, 4200-072 Porto, (Portugal). E-mail: mfsilva@dee.isep.ipp.pt, jtm@dee.isep.ipp.pt;Department of Mechanical Engineering, Faculty of Engineering of Porto, 4200-465 Porto, (Portugal). E-mail: aml@fe.up.pt;Department of Mechanical Engineering, Faculty of Engineering of Porto, 4200-465 Porto, (Portugal). E-mail: aml@fe.up.pt
Venue:
Robotica
Year:
2005

Citing 10
Cited 7

Three uses for springs in legged locomotion

International Journal of Robotics Research
Passive dynamic walking

International Journal of Robotics Research
Robotic walking in natural terrain: gait planning and behavior-based control for statically-stable walking robots

Robotic walking in natural terrain: gait planning and behavior-based control for statically-stable walking robots
Analysis and design of fractional-order digital control systems

Systems Analysis Modelling Simulation
Terrain-adaptive gait for walking machines

International Journal of Robotics Research
A General Model of Legged Locomotion on Natural Terrain

A General Model of Legged Locomotion on Natural Terrain
Machines That Walk: The Adaptive Suspension Vehicle

Machines That Walk: The Adaptive Suspension Vehicle
Virtual Model Control of a Hexapod Walking Robot

Virtual Model Control of a Hexapod Walking Robot
A simplified hybrid force/position controller method for the walking robots

Robotica
Fuzzy logic control of a planetary gear type walking machine leg

Robotica

Complex-order dynamics in hexapod locomotion

Signal Processing - Fractional calculus applications in signals and systems
Modeling and simulation of walking robots with 3 dof legs

MIC'06 Proceedings of the 25th IASTED international conference on Modeling, indentification, and control
Kinematic and dynamic performance analysis of artificial legged systems

Robotica
Optimal energy gaits for quadrupeds under variable locomotion conditions

ASM '07 The 16th IASTED International Conference on Applied Simulation and Modelling
On Riemann and Caputo fractional differences

Computers & Mathematics with Applications
Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot

Robotics and Computer-Integrated Manufacturing
Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.