Browsing by Author "Silva, Filipe M."
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- Biped locomotion systems: A kinematic point of viewPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motin of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the wlaking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
- Control of biped walking based on force interactionPublication . Silva, Filipe M.; Tenreiro Machado, J. A.The focus of this paper is the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings foward, and double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear and nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness is discussed.
- Controllability analysis of biped walking robotsPublication . Silva, Filipe M.; Tenreiro Machado, J. A.The focus of this paper is the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i) a single support phase, in which it is studied the trajectory controllability based on simple motion goals and ii) an exchange of support phase, in which the foward leg should absorb the impact and then gradually accept the robot's weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems both in the vertical and horizontal directions. The system's controllability is enchanced through the insertion of a dynamic selection matrix that modifies the actuating profile in each phase. The control algorithms are simulated and their effectiveness and robustness and discussed.
- Dynamic analysis of biped locomotion systemsPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in wlaking and to search for the optimal locomotion variables that minimise a cost function related to energy. Three different indices are proposed: mean absolute power, mean power dispersion and mean power lost. In order to accomplish this goal, in the description and analysis of the motion it is used a set of locomotion variables, namely: step length, hip height, hip ripple, hip offset, foot clearance and link lengths. Based on these variables and their influence on the energy flow, the performance measures are discussed and the results compared with those observed in nature.
- Dynamic efficiency during bipedal walkingPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the energy analysis of a bipedal walking system. The main purpose is to gain insight into the movement stategies in walking and to search for the optimal locomotion variables that minimise a cost function related to energy. In order to accomplish this goal, three performance indices are proposed: mean absolute power, mean power dispersion and mean power lost. At the same time, the description of the movement is based on a set of locomotion variables, namely: step legth, hip height, hip ripple, hip offset, foot clearance and link lenghts. The simulation results show the influence of these variables in the energy flow. The performance measures are discussed and the results compared with those observed in human locomotion.
- Dynamic performance of biped locomotion systemsPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in walking and the search for the optimal locomotion variables that minimise the energy comsunption. In order to accomplish this goal, a set of locomotion variables is used in the description and analysis of motion. The locomotion variables considered are the following: step length, hip height, hip ripple, hip offset, foot clearance, link lenghts and link masses. Based on thes variables and their influence on the energy flow, the performance is discussed and the results are compared with those observed in nature.
- Dynamic phenomena during biped walkingPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the energy analysis of a biped locomotion system. Our main goal is to gain insight into the movement strategeis in walking and to search for the optimal locomotion variables that minimise a cost function related to energy. In roder to accomplish this goal, three different indices are proposed: mean absolute power, mean power dispersion and mean power lost. At the same time, the description and analysis of the motion is based on a set of locomotion variables, namely: step length, hip height, hip ripple, hip offset, foot claerance and link lengths. The influence of these variables on the energy flow is discussed and the results compared with those observed in nature.
- Energy analysis during biped walkingPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper describes the dynamic analysis of biped locomotion systems. A planar biped is modelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip heiht, hip ripple, hip offset, foot clearance and link lengths. Afterwards, three cost functions related to energy are proposed: absolute power, power dispersion and power lost. The aim is to understand the influence of these locomotion variables on the energy flow. The performance measure are discussed and the results compared with those observed in nature.
- Goal-oriented biped walking based on force interaction controlPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper addresses the problem of modelling and control of biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings forward, double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear and nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness and robustness is discussed.
- Hybrid position/force algorithms for biped locomotionPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete wlaking cycle is divided in two phases: i) single support - in which it is studied the trajectory controllability based on simple motion goals and ii) exchange of support - in which the foward leg should absorb the impact and then gradually accept the robot's weight. The contact of the foot with the constrained durface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed.