engleski

2-D Biped Walking System

The study of human locomotion presents both theoretical and practical interest from the biomechanical and robotics point of view. This paper deals with mathematical modelling of biped gait in the sagital plane, neglecting the motion in the frontal plane. A multi-link system made up of one trunk and two legs will be considered. The Lagrangian for the 5-link 2-D biped system was carried out and the equations of motion for the system are given. The Lagrange formalism is then written as state space representation and a block diagram scheme is proposed. Such a model helps us to analyse the effect of the shock generated by the contact of feet with the ground. The state space representation of Lagrange equation is originally described by C. Vibet. His ideas is mainly based on observing the treatment of initial states in nonlinear systems. Simulation-based model testing of a specific example will be performed.

Modelling; Simulation; Gait

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