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Design and Simulation of Legged Walking Robots in MATLAB® Environment : Progettazione e simulazione di sistemi robotici a gambe in ambiente Matlab, in: MATLAB for Engineers - Applications in Control, Electrical Engineering, IT and Robotics |
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General information |
| Author |
Liang, Conghui; Ceccarelli, Marco; Carbone, Giuseppe |
| Published |
InTech Open Access Publisher, 2011
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| Abstract |
In this chapter, design and simulation issues of legged walking robots have been addressed
by using modeling and simulation in Matlab® environment. In particular, Matlab® is a
powerful computation and simulation software package, which is quite useful for the design
and operation performances evaluation of legged robotic systems. Three examples are
illustrated and they have been studied for motion feasibility analysis and operation
performances characterizations by taking advantages of Matlab® features. Contributions of
this chapter can be indicated as follows.
A kinematic study of a Chebyshev-Pantograph leg mechanism has been carried out, and
equations are formulated in the Matlab® environment. From the reported simulation
results, it shows that the practical feasible operation performance of the Chebyshev-
Pantograph leg mechanism in a single DOF biped robot. Additionally, a parametric study
has been developed by using the elaborated Matlab® analysis code to look for an optimized
mechanical design and to determine an energy efficient walking gait.
A novel biologically inspired tripod walking robot is proposed by defining suitable design
and operation solution for leg mechanism. Simulation results show the proposed design
performs a tripod walking gait successfully. Operation performance of the leg mechanisms
and the tripod walking robot are reported and discussed by using results from Matlab®
simulations. |
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