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Simulations of the dynamic behavior of a bipedal robot with trunk and arms subjected to 3D external disturbances in a vertical posture, during walking and during object handling

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Abstract

This paper provides a new approach to the bipedal robot stability problems in presence of external disturbances in vertical posture of the robot, during walking and during object handling. This approach is based on synergy between the dynamic motions of balancing masses and arms to reject large perturbations applied to the upper part of ROBIAN robot. In these cases, the stabilization is carried out in the first time with a trunk having 4 degrees of freedom (dof): one rotational and three translational movements. In the second time, the stabilization is performed with a system with arms and having 10 dof. During the walk, the trunk elements of ROBIAN reproduce necessary movements to perform the dynamic walking gait of the robot. The compensation of external three-dimensional efforts applied to the robot is achieved firstly by the trunk and secondly with the arms. This study allows us to determine on-line the required movements and accelerations of the trunk elements in order to maintain the robot stability and shows the importance of the arms for the robot stability.

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Authors and Affiliations

  1. Laboratory of Electromechanical Systems, University of Sfax, Sfax, Tunisia

    C. Zaoui & A. Maalej

  2. LISV Laboratory of Engineering of the Systems, UVSQ Versailles Saint-Quentin University, 10-12 Avenue de l’Europe, 78140, Vélizy, France

    O. Bruneau & F. B. Ouezdou

Authors
  1. C. Zaoui
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  2. O. Bruneau
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  3. F. B. Ouezdou
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  4. A. Maalej
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Correspondence to O. Bruneau.

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Zaoui, C., Bruneau, O., Ouezdou, F.B. et al. Simulations of the dynamic behavior of a bipedal robot with trunk and arms subjected to 3D external disturbances in a vertical posture, during walking and during object handling. Multibody Syst Dyn 21, 261–280 (2009). https://doi.org/10.1007/s11044-008-9143-1

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  • DOI: https://doi.org/10.1007/s11044-008-9143-1

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