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![Former [2] and new Bioloid robot model rendered in Webots TM .](profile/Mafalda-Couto/publication/267921689/figure/fig1/AS:392224811569152@1470525090213/Former-2-and-new-Bioloid-robot-model-rendered-in-Webots-TM.png)
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![Fig. 1: Former [2] and new Bioloid robot model rendered in Webots TM .](profile/Mafalda-Couto/publication/267921689/figure/fig1/AS:392224811569152@1470525090213/Former-2-and-new-Bioloid-robot-model-rendered-in-Webots-TM_Q320.jpg)
![Fig. 4: Diagram of the pantographic leg operation (u<v<w) [7].](profile/Mafalda-Couto/publication/267921689/figure/fig4/AS:392224811569156@1470525090454/Diagram-of-the-pantographic-leg-operation-uvw-7_Q320.jpg)
In the growing field of rehabilitation robotics, the modelling of a real robot is a complex and passionate challenge. On the crossing point of mechanics, physics and computer-science, the development of a complete 3D model involves the knowledge of the different physic properties, for an accurate simulation. In this paper, it is proposed the design...
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Context 1
... with a wide set of advantageous features, thus it holds an academic interest on research in many fields, greatly due to its robustness and versatility. The kit used in this project is named Bioloid, based on the mentioned Fillion-Robins [2] model, which holds a three-dimensional model that closely resembles a real dog robot, as illustrated in Fig. 1. Despite the good characteristics of the former Bioloid model, several aspects can be improved. From the previous quadruped configuration model, some main characteristics were maintained. First of all, the leg has the same degrees of freedom (DoF), where each leg is able to move in three axes: hip joint can be actuated for pitch and ...
Context 2
... the robot is tested assessing the angles activity during simulation (Fig. 1). With regard to the controlling of the joints motion, the hip joint performs a continuous and active motion during the simulation with amplitude of 20 o as commanded. Differently from the hip, in the knee compliant joint it is expected a nonlinear behavior (see Figs. 6, 7 and 8). During swing phase the servomotor actuation is on, it ...
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We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions for quadruped robots in challenging terrain. The former finds an approximate relationship between joint-torque limits and admissible contact forces without requiring the knowledge of the joints' configur...
Citations
We present a spring loaded inverted pendulum (SLIP) based robot leg to enable decoupled swing motion and spring-like behavior. The two SLIP principles (decoupled swing motion and spring-like behavior) allow an improved understanding of robot locomotion and its control. Proposed leg mechanism include one degree of freedom (DOF) straight-line generating mechanism to perform ideal spring-like behavior and the pantograph to amplify that. The spring-like behavior can be implemented using mechanical constraints with Chebyshev linkage and the virtual spring method. For applying the virtual spring method to the radial motion controlled by one actuator, the relationship between the actuator force and radial force acting on the foot end was determined by using a kinematic interpretation. A 1-DOF test bed including the suggested leg was built and tested to verify the decoupled motions. The spring-like leg behavior was demonstrated during the free fall experiment and the experiment in which external force was applied.
