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ROMANSY 11 pp 149-156 | Cite as

Simulation of an Anthropomorphic Running Robot Using the Multibody Code Mechanica Motion

  • H. De Man
  • D. Lefeber
  • J. Vermeulen
  • B. Verreist
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)

Abstract

The main scope of this paper is twofold: an algorithm to control the motion of an anthropomorphic running robot is presented and a description is given of the commercial multibody code MECHANICA Motion, used for the simulations. Attention is given to the simulation code to show that it is possible to simulate rather unconventional mechanisms, such as legged robots, using general purpose multibody codes, thus avoiding the time-consuming task of writing a software code for the specific model at hand.

Keywords

Stance Phase Forward Velocity Quadruped Robot Global Center Flight Phase 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • H. De Man
    • 1
  • D. Lefeber
    • 1
  • J. Vermeulen
    • 1
  • B. Verreist
    • 1
  1. 1.Vrije Universiteit BrusselBrusselBelgium

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