Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Volume 26
Issue 02 - Mar 2008
Add to Basket £30.00 / $45.00
Request Permissions
Cited by Articles (CrossRef)
Cited by Articles (Google Scholar)
Cited by Articles (Cambridge Journals)
Citation Alert
Go to Next Abstract in TOC
Go to Previous Abstract in TOC
Blog this Article close

Copy and paste this code to insert a reference to this article in your blog or online community profile:

Highlight All
<div style="background: #FFFFFF; margin: 10px 10px 10px 10px; padding: 10px 10px 10px 20px; text-align: left; border-top: 1px dashed #a5bbd1; border-left: 10px solid #a5bbd1; font-family: Verdana, Geneva, sans-serif;"><br> <div style="font-size: 12px; padding: 0px 0px 10px 0px; font-weight:bold; color: #003366;">Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments</div><br><div style="font-size: 10px;"><b>Aleksandar Rodić,Miomir Vukobratović,Khalid Addi and Georges Dalleau (2008).</b><br /> <a href="http://journals.cambridge.org/action/displayJournal?jid=ROB">Robotica</a>, <a href="http://journals.cambridge.org/action/displayJournal?jid=ROB&volumeId=26&bVolume=y#loc26 ">Volume 26</a>, <a href="http://journals.cambridge.org/action/displayIssue?jid=ROB&volumeId=26&issueId=02&iid=1764432"> Issue 02</a>, March 2008 pp 157-175 <br/> <a href="http://journals.cambridge.org/action/displayAbstract?aid=1764432">http://journals.cambridge.org/action/displayAbstract?aid=1764432</a></div></div>
The code will display like this:

Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Aleksandar Rodić, Miomir Vukobratović, Khalid Addi and Georges Dalleau (2008).
Robotica, Volume 26, Issue 02, March 2008 pp 157-175 http://journals.cambridge.org/action/displayAbstract?aid=1764432

Blog this Article

Robotica (2008), 26 : 157-175 Cambridge University Press

doi:10.1017/S0263574707003682 (About doi)

Published online by Cambridge University Press 13 Aug 2007

Social Bookmarking

Cambridge Journals Online - CUP Full-Text Page

Robotica (2008), 26:157-175 Cambridge University Press

doi:10.1017/S0263574707003682

Article

Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Aleksandar Rodić^a1 ^c1, Miomir Vukobratović^a1, Khalid Addi^a2 and Georges Dalleau^a3

^a1Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia.

^a2IREMIA, Reunion Island University, Sait Denis Cedex, France.

^a3CURAPS-DIMPS, Reunion Island University, Le Tampon, France.

Article author query

rodić a

vukobratović m

addi k

dalleau g

SUMMARY

This paper suggests a generalized approach to the mathematical modeling of biped locomotion systems (humans or humanoid robots) with special attention paid to impact and contact dynamics. Instead of the usual inductive approach that starts from the analysis of different situations of real motion (walking, running, jumping, climbing the stairs, etc.) and tries to make a generalization, a deductive approach is pursued, whereby an entirely general problem is considered. Impact dynamics is modeled applying the linear complementarity problem (LCP) formulation. General methodology is explained and demonstrated via the synthesis of a spatial biped model. The validity of the modeling approach is proved by experimental measurements on a human subject in the laboratory conditions. Plenty of graphic presentations illustrating experimental results, as well as the results of the corresponding simulation tests are shown.

(Received June 13 2007)

(Online publication August 13 2007)

Key Words: Mathematical modeling; Biped locomotion; Contact dynamics; Body impacts; Linear complementarity problem (LCP)

Correspondence:

^c1 Corresponding author. Email: roda@robot.imp.bg.ac.yu

Username or Email Address	Password