Modelling and Simulation of Human and Walking Robot Locomotion
Legged locomotion of vertebrates as well as biological classification of locomotion type are presented. Biomechanical modelling of human locomotion, plane model with 11 D.O.F., reduced order dynamic models of computer analysis of human gait, muscle drives and control system are given.
Next biomechanical bipeds, design of own electromechanical biped, computer model of a human musculoskeletal model, anthropomorphic biped robot, method of reference trajectory generations are discussed.
In the second part multi-legged walking robots, old walking machines, old Chinese machine, contemporary four-legged machines, design and testing of MK-4 walking machine, new design of four-legged machine are given.
Six legged walking machines, insect locomotion, description of selected machines are discussed.
Six legged walking robot — HERMES and some experimental results dealing with identification of its properties are given.
In the third part micromechanisms and microwalking robots, basic terms and definitions, present state of research of mobile micromachines like fourlegged microwalking machine driven by electromagnetic force, micromobile robot driven by gas turbine and finally possible applications and perspectives are discussed.
KeywordsGround Reaction Force Biped Robot Direct Drive Human Gait Human Locomotion
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