Study of actuation and energy reduction with an anthropomorphic knee on biped robot
Communication avec acte
The knee of biped robots has usually one degree of freedom which one is a revolute joint. This work focuses on the study of rolling contact knee. The knee is composed of a cylinder in the extremity of the femur, rolling on another cylindrical surface which is the tibia. Studies have shown that this structure allows to reduce the torque during the gait. Energetic optimization series were made with this structure and for different cylinder radii. The angular trajectories describing the gait are generated by cubic splines functions. The gait is composed of single support phase followed by an impact. The minimization of energetic criterion is realized using the Simplex algorithm of Nelder-Mead. The results show that higher radii of the tibia permit to reduce energy consumption during the gait. The study of new contact surfaces is a way to decrease the energy consumption.
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Rapport de rechercheHOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Laboratoire de Conception Fabrication Commande (LCFC), 2013)This 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 ...
Communication avec acteHOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (AFM, 2011)L’article présente la méthodologie d’obtention de trajectoires optimales de marche pour une nouvelle classe de robot bipède. Le robot bipède est constitué de sept corps et possède des genoux anthropomorphes avec un contact ...
Communication avec acteHOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (IEEE, 2013)This paper presents the energy consumption of a biped robot with a new modelled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. ...
Article dans une revue avec comité de lectureHOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Elsevier, 2013)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 ...
Communication avec acteHOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Elsevier, 2011)In this paper, we address the problem of optimization of trajectories for a new class of biped robot. The knees of this biped are similar as the anthropomorphic one and have a rolling contact between the femur and the ...