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Mathematical Biosciences and Engineering

2010, Volume 7, Issue 3: 479-504. doi: 10.3934/mbe.2010.7.479
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Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches

  • 1.
    University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde
  • 2.
    Robotics department, Mihajlo Pupin Institute, University of Belgrade, Zvezdara, Volgina 15, 11060 Belgrade
  • Received: 01 September 2009 Accepted: 29 June 2018 Published: 01 June 2010

  • MSC : 90C33, 70E18, 37M05.

  • Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.

    Citation: Khalid Addi, Aleksandar D. Rodić. Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches[J]. Mathematical Biosciences and Engineering, 2010, 7(3): 479-504. doi: 10.3934/mbe.2010.7.479

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  • Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.


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    2. Aleksandar Rodić, Svemir Popić, Miloš Jovanović, 2020, 9780128156599, 109, 10.1016/B978-0-12-815659-9.00005-6
    3. Marija Tomic, Veljko Potkonjak, Aleksandar Rodic, Vesna Antoska, Human-and-Humanoid Motion - Distinguish Between Safe and Risky Mode, 2012, 45, 14746670, 524, 10.3182/20120905-3-HR-2030.00070
    4. Yun Bi, Jeremy J. Rickli, Ana Djuric, 2022, Chapter 28, 978-3-030-90699-3, 250, 10.1007/978-3-030-90700-6_28
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  • © 2010 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0)
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