期刊
APPLIED MATHEMATICS & INFORMATION SCIENCES
卷 8, 期 4, 页码 1501-1507出版社
NATURAL SCIENCES PUBLISHING CORP-NSP
DOI: 10.12785/amis/080403
关键词
3D Modelling; Quadruped Bioloid Robot; Segmented Pantograph Leg; Compliant Joint
资金
- FEDER
- Operational Program Competitive Factors - COMPETE
- FCT - Portuguese Science Foundation [PTDC/EEACRO/100655/2008]
In the growing field of rehabilitation robotics, the modelling of a real robot is a complex and passionate challenge. On the crossing point of mechanics, physics and computer-science, the development of a complete 3D model involves the knowledge of the different physic properties, for an accurate simulation. In this paper, it is proposed the design of an efficient three-dimensional model of the quadruped Bioloid robot setting segmented pantographic legs, in order to actively retract the quadruped legs during locomotion and minimizing large forces due to shocks, such that the robot is able to safely and dynamically interact with the user or the environment.
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