Show simple item record

dc.contributor.author
 hal.structure.identifier
HOBON, Mathieu
107452 Laboratoire de Conception Fabrication Commande [LCFC]
dc.contributor.author
 hal.structure.identifier
LAKBAKBI EL YAAQOUBI, Nafissa
107452 Laboratoire de Conception Fabrication Commande [LCFC]
dc.contributor.author
 hal.structure.identifier
ABBA, Gabriel
107452 Laboratoire de Conception Fabrication Commande [LCFC]
dc.date.accessioned2013
dc.date.available2013
dc.date.issued2013
dc.date.submitted2013
dc.identifier.urihttp://hdl.handle.net/10985/7480
dc.description.abstractThis report presents the dynamic modeling of a planar biped robot. The robot has seven bodies and 9 DOF. Two kinematic configurations are investigated. The first has only revolute joints on all articulation. The second differs by the presence of rolling contact on the knees. All matrices involved in the model are given in explicit form. All the possibilities of contact between the feet and the ground are considered.
dc.publisherLaboratoire de Conception Fabrication Commande (LCFC)
dc.rightsPre-print
dc.subjectBiped robot
dc.subjectRolling knee
dc.subjectDynamic model
dc.subjectContact model
dc.titleModeling of Rolling Knee Biped Robot
dc.typdocRapport de recherche
dc.localisationCentre de Metz
dc.subject.halSciences de l'ingénieur: Automatique / Robotique
dc.subject.halSciences de l'ingénieur: Mécanique
hal.identifierhal-00881386
hal.version1
hal.submission.permittedupdateFiles
hal.statusaccept


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record