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General information |
| Author |
Daou, Hadi El; Libourel, Paul-Antoine; Renous, Sabine; Bels, Vincent; Guinot, Jean Claude |
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InTech Open Access Publisher, 2013
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| Abstract |
This paper presents a bio‐mimetic approach to
design and simulate a tortoise‐like virtual robot. This
study takes a multidisciplinary approach: from in vivo
and in vitro experiments on animals, data are collected
and used to design, control and simulate a bio‐mimetic
virtual robot using MD ADAMS platform. From the in
vitro experiments, the geometrical and inertial
properties of body limbs are measured, and a model of
tortoise kinematics is derived. From the in vivo
experiments the contact forces between each limb and
the ground are measured. The contributions of hind and
forelimbs in the generation of propelling and braking
forces are studied. The motion of the joints between
limb segments are recorded and used to solve the
inverse kinematics problem. A virtual model of a
tortoise‐like robot is built; it is a linkage of 15 rigid
bodies articulated by 22 degrees of freedom. This model
is referred to as TATOR II. It has the inertial and
geometrical properties measured during the in vitro
experiments. TATOR II motion is achieved using a
Proportional‐Derivative controller copying the joint
angle trajectories calculated from the in vivo
experiments. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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