Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Novel mechanical design of biped robot SHERPA using 2 DOF cable differential modular joints
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper deals with the design and the experiments of the upper part of the ROBIAN biped robot. The motivation of the ROBIAN project is related to the study of the human being locomotion system. The major application of ROBIAN prototype is the development of a real testing bed of active/passive prosthesis devices enhancing research on the human being locomotion mechanism handicaps. The analysis of the wrench six components exerted by the upper part of a virtual manikin on the locomotion apparatus leads to the identification of two coupling relations. Based on the dynamic equivalence concept between mechanisms, the ROBIAN torso mechanism is identified. This concept leads to a four degrees of freedom mechanism able to reproduce the dynamic effects of the upper limbs during the walking gait. The mechanism parameters are optimized with respect to several design criteria and constraints. Then the prototype is built and mounted on the ROBIAN locomotion apparatus through a six components force sensor. Experimental results presented in this paper validate the proposed approach. The experimental coupling coefficients are identified. The influence of the masses motion on the ZMP trajectory are also given, showing the effectiveness of the torso mechanism contribution during a walking gait.