Impact dynamics in biped locomotion analysis: two modelling and implementation approaches
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Published on: May 8, 2014
Khalid Addi1, Aleksandar D Rodić
1University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde, France. khalid.addi@univ-reunion.fr
Abstract:
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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