Naslov
2-D Biped Walking System

Autori
Zanchi, Vlasta ; Cecić, Mojmil

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni

Izvornik
Zbornik sažetaka Devetog simpozija biomedicinske tehnike '92 / - Zagreb, 1992, 6-7

Skup
Deveti simpozij biomedicinske tehnike

Mjesto i datum
Zagreb, Hrvatska, 23.11.1992. - 24.11.1992

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Modelling; Simulation; Gait

Sažetak
The study of human locomotion presents both theoretical and practical interest from the biomechanical and robotics point of view. This paper deals with mathematical modelling of biped gait in the sagital plane, neglecting the motion in the frontal plane. A multi-link system made up of one trunk and two legs will be considered. The Lagrangian for the 5-link 2-D biped system was carried out and the equations of motion for the system are given. The Lagrange formalism is then written as state space representation and a block diagram scheme is proposed. Such a model helps us to analyse the effect of the shock generated by the contact of feet with the ground. The state space representation of Lagrange equation is originally described by C. Vibet. His ideas is mainly based on observing the treatment of initial states in nonlinear systems. Simulation-based model testing of a specific example will be performed.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA