Browsing by Issue Date, starting with "1997-09-15"
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- Kinematic analysis of artificial biped locomotion systemsPublication . 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 prescibed motion 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 walking robot: locomobility measure, perturbation analysis, and lowpass frequency response. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
- Stability analysis in variable structure position/force hybrid control of manipulatorsPublication . Azenha, Abílio; Tenreiro Machado, J. A.In this paper it is studied the implementation of a variable structure algorithm in position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of time and frequency responses.