Dynamics Model of a Biped Walking Machine : A Method of Joint Accelerations Calculation using Newton-Euler Equations
A method of calculating joint accelerations of a biped walking machine is proposed using Newton-Euler equations. The method transcribes all the phases in walking into the corresponding conditions on a linear equation with respect to the trunk, thus eliminating the conventional model change. The forc...
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| Veröffentlicht in: | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 1990/11/25, Vol.56(531), pp.2907-2910 |
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| container_title | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C |
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| creator | SHIGEMATSU, Yoichi KAKAZU, Yukinori |
| description | A method of calculating joint accelerations of a biped walking machine is proposed using Newton-Euler equations. The method transcribes all the phases in walking into the corresponding conditions on a linear equation with respect to the trunk, thus eliminating the conventional model change. The force and torque vectors from link i-1 to link i, the linear/angular acceleration vectors of link i-1, and the i-1 th joint acceleration are expressed recursively in linear terms with respect to the force and torque vectors from the ground to the foot (link 0) and the linear/angular acceleration vectors of the foot. The unknown vectors are solved by a 26×26 linear equation with respect to the trunk and feet conditions. Then the joint accelerations can be solved using the unknowns. Numerical experiment applied to a 4-degrees-of-freedom (dof) stilt machine solved the joint accelerations using this method. The condition number of the linear equation is 2×104, thus double precision QR decomposition is employed. |
| doi_str_mv | 10.1299/kikaic.56.2907 |
| format | Article |
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The method transcribes all the phases in walking into the corresponding conditions on a linear equation with respect to the trunk, thus eliminating the conventional model change. The force and torque vectors from link i-1 to link i, the linear/angular acceleration vectors of link i-1, and the i-1 th joint acceleration are expressed recursively in linear terms with respect to the force and torque vectors from the ground to the foot (link 0) and the linear/angular acceleration vectors of the foot. The unknown vectors are solved by a 26×26 linear equation with respect to the trunk and feet conditions. Then the joint accelerations can be solved using the unknowns. Numerical experiment applied to a 4-degrees-of-freedom (dof) stilt machine solved the joint accelerations using this method. 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The method transcribes all the phases in walking into the corresponding conditions on a linear equation with respect to the trunk, thus eliminating the conventional model change. The force and torque vectors from link i-1 to link i, the linear/angular acceleration vectors of link i-1, and the i-1 th joint acceleration are expressed recursively in linear terms with respect to the force and torque vectors from the ground to the foot (link 0) and the linear/angular acceleration vectors of the foot. The unknown vectors are solved by a 26×26 linear equation with respect to the trunk and feet conditions. Then the joint accelerations can be solved using the unknowns. Numerical experiment applied to a 4-degrees-of-freedom (dof) stilt machine solved the joint accelerations using this method. 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The method transcribes all the phases in walking into the corresponding conditions on a linear equation with respect to the trunk, thus eliminating the conventional model change. The force and torque vectors from link i-1 to link i, the linear/angular acceleration vectors of link i-1, and the i-1 th joint acceleration are expressed recursively in linear terms with respect to the force and torque vectors from the ground to the foot (link 0) and the linear/angular acceleration vectors of the foot. The unknown vectors are solved by a 26×26 linear equation with respect to the trunk and feet conditions. Then the joint accelerations can be solved using the unknowns. Numerical experiment applied to a 4-degrees-of-freedom (dof) stilt machine solved the joint accelerations using this method. The condition number of the linear equation is 2×104, thus double precision QR decomposition is employed.</abstract><pub>The Japan Society of Mechanical Engineers</pub><doi>10.1299/kikaic.56.2907</doi><tpages>4</tpages><oa>free_for_read</oa></addata></record> |
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| identifier | ISSN: 0387-5024 |
| ispartof | Transactions of the Japan Society of Mechanical Engineers Series C, 1990/11/25, Vol.56(531), pp.2907-2910 |
| issn | 0387-5024 1884-8354 |
| language | eng ; jpn |
| recordid | cdi_crossref_primary_10_1299_kikaic_56_2907 |
| source | J-STAGE Free; EZB Electronic Journals Library |
| subjects | Biped Stilt Walking Machine Forward Dynamics Model Newton-Euler Equations QR Decomposition Recursion of Accelerations Recursion of Forces and Torques |
| title | Dynamics Model of a Biped Walking Machine : A Method of Joint Accelerations Calculation using Newton-Euler Equations |
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