1. Modeling and simulation of passive bipedal locomotion systems with hybrid dynamics.
- Author
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Jadlovská, Slávka, Jadlovská, Anna, and Koska, Lukáš
- Subjects
- *
BIPEDALISM , *SYSTEM dynamics , *HYBRID systems , *SIMULATION methods & models , *MATHEMATICAL models , *EQUATIONS of motion - Abstract
The purpose of this paper is to present a unified methodology for the derivation and implementation of the continuous dynamics (equations of motion) and discrete dynamics (transition equations) that comprise the hybrid model of an passive biped robot. A developed general model derivation procedure is presented which generates a complete mathematical model for a selected underactuated bipedal robot. The generated mathematical models are implemented in Simulink using the Stateflow tool. The functionality of the proposed approach has been demonstrated using several case studies. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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