Papers by Marlon Fernando Velásquez Lobo
©INAOE 2013 Derechos Reservados El autor otorga al INAOE el permiso de reproducir y distribuir co... more ©INAOE 2013 Derechos Reservados El autor otorga al INAOE el permiso de reproducir y distribuir copias de esta tesis en su totalidad o en partes.
CONIELECOMP 2013, 23rd International Conference on Electronics, Communications and Computing, 2013
This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, which suppor... more This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, which supports mathematical model development with time and effort savings. The model used for the biped robot simulation consists of 5-links which are connected through revolute joins. The identical legs have knee joints between the shank and thigh parts, and a rigid body forms the torso. Furthermore, modeling of ground contact forces is described. A PD controller is used on a linear model in state variable form in order to simulate the dynamic of the system. Results obtained from the dynamic simulation are presented.
Modeling a Biped Robot on Matlab/SimMechanics
ABSTRACT This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, whi... more ABSTRACT This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, which supports mathematical model development with time and effort savings. The model used for the biped robot simulation consists of 5-links which are connected through revolute joins. The identical legs have knee joints between the shank and thigh parts, and a rigid body forms the torso. Furthermore, modeling of ground contact forces is described. A PD controller is used on a linear model in state variable form in order to simulate the dynamic of the system. Results obtained from the dynamic simulation are presented.
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Papers by Marlon Fernando Velásquez Lobo