American Institute of Mathematical Sciences

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2010, 7(3): 479-504. doi: 10.3934/mbe.2010.7.479

Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches

Khalid Addi 1, and  Aleksandar D. Rodić 2,

1. 

University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde, France
2. 

Robotics department, Mihajlo Pupin Institute, University of Belgrade, Zvezdara, Volgina 15, 11060 Belgrade, Serbia

Received  September 2009 Revised  December 2009 Published  June 2010

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.
Keywords: Linear Complementarity Problem, unilateral contact, impact dynamics, Nonsmooth dynamical systems, impedance model., humanoid robots.
Mathematics Subject Classification: 90C33, 70E18, 37M0.
Citation: Khalid Addi, Aleksandar D. Rodić. Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches. Mathematical Biosciences & Engineering, 2010, 7 (3) : 479-504. doi: 10.3934/mbe.2010.7.479
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