Toward a dynamic analysis of bipedal robots inspired by human leg muscles

A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by ad...

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Main Authors:	Fernini, B., Temmar, M., M. M., Noor
Format:	Article
Language:	English
Published:	Faculty Mechanical Engineering, UMP 2018
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf

id	ump-21832
recordtype	eprints
spelling	ump-218322018-09-13T07:22:13Z http://umpir.ump.edu.my/id/eprint/21832/ Toward a dynamic analysis of bipedal robots inspired by human leg muscles Fernini, B. Temmar, M. M. M., Noor TJ Mechanical engineering and machinery A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by adding these passive springs in the leg mechanism of bipedal robot. On the other hand, using these springs may inflict a fatigue during walking due to the additional work that can provide to the joints. The main objective of this paper is to analyze the total work of the robot during walking by proposing four cases of the preload of the springs at the equilibrium position. It’s found from this study that the case that has the most energy saving and ensure the comfortable walking to the robot is when the two muscles (GAS) and (TA) are not preloaded to support the total weight at the equilibrium position. Faculty Mechanical Engineering, UMP 2018 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf Fernini, B. and Temmar, M. and M. M., Noor (2018) Toward a dynamic analysis of bipedal robots inspired by human leg muscles. Journal of Mechanical Engineering and Sciences (JMES), 12 (2). pp. 3593-3604. ISSN 2231-8380 (online) http://jmes.ump.edu.my/images/Volume_12_Issue2_2018/06%20fernini%20et%20al.pdf doi: 10.15282/jmes.12.2.2018.6.031
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Fernini, B. Temmar, M. M. M., Noor Toward a dynamic analysis of bipedal robots inspired by human leg muscles
description	A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by adding these passive springs in the leg mechanism of bipedal robot. On the other hand, using these springs may inflict a fatigue during walking due to the additional work that can provide to the joints. The main objective of this paper is to analyze the total work of the robot during walking by proposing four cases of the preload of the springs at the equilibrium position. It’s found from this study that the case that has the most energy saving and ensure the comfortable walking to the robot is when the two muscles (GAS) and (TA) are not preloaded to support the total weight at the equilibrium position.
format	Article
author	Fernini, B. Temmar, M. M. M., Noor
author_facet	Fernini, B. Temmar, M. M. M., Noor
author_sort	Fernini, B.
title	Toward a dynamic analysis of bipedal robots inspired by human leg muscles
title_short	Toward a dynamic analysis of bipedal robots inspired by human leg muscles
title_full	Toward a dynamic analysis of bipedal robots inspired by human leg muscles
title_fullStr	Toward a dynamic analysis of bipedal robots inspired by human leg muscles
title_full_unstemmed	Toward a dynamic analysis of bipedal robots inspired by human leg muscles
title_sort	toward a dynamic analysis of bipedal robots inspired by human leg muscles
publisher	Faculty Mechanical Engineering, UMP
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf
first_indexed	2023-09-18T22:32:12Z
last_indexed	2023-09-18T22:32:12Z
_version_	1777416360648769536

Toward a dynamic analysis of bipedal robots inspired by human leg muscles

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