Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”

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MENESES, Jesús ;CASTEJÓN, Cristina ;CORRAL, Eduardo ;RUBIO, Higinio ;GARCÍA-PRADA, Juan Carlos .
Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 57, n.12, p. 879-887, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/>. Date accessed: 15 sep. 2019. 
doi:http://dx.doi.org/10.5545/sv-jme.2010.210.
Meneses, J., Castejón, C., Corral, E., Rubio, H., & García-Prada, J.
(2011).
Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”.
Strojniški vestnik - Journal of Mechanical Engineering, 57(12), 879-887.
doi:http://dx.doi.org/10.5545/sv-jme.2010.210
@article{sv-jmesv-jme.2010.210,
	author = {Jesús  Meneses and Cristina  Castejón and Eduardo  Corral and Higinio  Rubio and Juan Carlos  García-Prada},
	title = {Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {12},
	year = {2011},
	keywords = {mechanism analysis; quasi-passive biped; walking robots},
	abstract = {A quasi-passive biped (having only one actuator) developed into a Spanish project called “PASIBOT” [1] is presented in this article. We focus on the PASIBOT’s topology, kinematics and dynamics, and we describe a program designed for carrying out the corresponding calculations. This code provides for all kinematic and dynamic data, as functions of time, along one step: position, velocity and acceleration of all members, as well as all the forces and torques on each of them, motor torque included. This latter information has helped us to choose the required motor, as this choice depends on some parameters of interest that can be modified in the program, like density or link dimensions. Also, we will be able to get strain-stress data in all links in the course of a step, and then optimize those dimensions. To finish, some results are also presented that confirm the interest of the developed code.},
	issn = {0039-2480},	pages = {879-887},	doi = {10.5545/sv-jme.2010.210},
	url = {https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/}
}
Meneses, J.,Castejón, C.,Corral, E.,Rubio, H.,García-Prada, J.
2011 June 57. Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 57:12
%A Meneses, Jesús 
%A Castejón, Cristina 
%A Corral, Eduardo 
%A Rubio, Higinio 
%A García-Prada, Juan Carlos 
%D 2011
%T Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”
%B 2011
%9 mechanism analysis; quasi-passive biped; walking robots
%! Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”
%K mechanism analysis; quasi-passive biped; walking robots
%X A quasi-passive biped (having only one actuator) developed into a Spanish project called “PASIBOT” [1] is presented in this article. We focus on the PASIBOT’s topology, kinematics and dynamics, and we describe a program designed for carrying out the corresponding calculations. This code provides for all kinematic and dynamic data, as functions of time, along one step: position, velocity and acceleration of all members, as well as all the forces and torques on each of them, motor torque included. This latter information has helped us to choose the required motor, as this choice depends on some parameters of interest that can be modified in the program, like density or link dimensions. Also, we will be able to get strain-stress data in all links in the course of a step, and then optimize those dimensions. To finish, some results are also presented that confirm the interest of the developed code.
%U https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/
%0 Journal Article
%R 10.5545/sv-jme.2010.210
%& 879
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 57
%N 12
%@ 0039-2480
%8 2018-06-29
%7 2018-06-29
Meneses, Jesús, Cristina  Castejón, Eduardo  Corral, Higinio  Rubio, & Juan Carlos  García-Prada.
"Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”." Strojniški vestnik - Journal of Mechanical Engineering [Online], 57.12 (2011): 879-887. Web.  15 Sep. 2019
TY  - JOUR
AU  - Meneses, Jesús 
AU  - Castejón, Cristina 
AU  - Corral, Eduardo 
AU  - Rubio, Higinio 
AU  - García-Prada, Juan Carlos 
PY  - 2011
TI  - Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2010.210
KW  - mechanism analysis; quasi-passive biped; walking robots
N2  - A quasi-passive biped (having only one actuator) developed into a Spanish project called “PASIBOT” [1] is presented in this article. We focus on the PASIBOT’s topology, kinematics and dynamics, and we describe a program designed for carrying out the corresponding calculations. This code provides for all kinematic and dynamic data, as functions of time, along one step: position, velocity and acceleration of all members, as well as all the forces and torques on each of them, motor torque included. This latter information has helped us to choose the required motor, as this choice depends on some parameters of interest that can be modified in the program, like density or link dimensions. Also, we will be able to get strain-stress data in all links in the course of a step, and then optimize those dimensions. To finish, some results are also presented that confirm the interest of the developed code.
UR  - https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/
@article{{sv-jme}{sv-jme.2010.210},
	author = {Meneses, J., Castejón, C., Corral, E., Rubio, H., García-Prada, J.},
	title = {Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {12},
	year = {2011},
	doi = {10.5545/sv-jme.2010.210},
	url = {https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/}
}
TY  - JOUR
AU  - Meneses, Jesús 
AU  - Castejón, Cristina 
AU  - Corral, Eduardo 
AU  - Rubio, Higinio 
AU  - García-Prada, Juan Carlos 
PY  - 2018/06/29
TI  - Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 57, No 12 (2011): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2010.210
KW  - mechanism analysis, quasi-passive biped, walking robots
N2  - A quasi-passive biped (having only one actuator) developed into a Spanish project called “PASIBOT” [1] is presented in this article. We focus on the PASIBOT’s topology, kinematics and dynamics, and we describe a program designed for carrying out the corresponding calculations. This code provides for all kinematic and dynamic data, as functions of time, along one step: position, velocity and acceleration of all members, as well as all the forces and torques on each of them, motor torque included. This latter information has helped us to choose the required motor, as this choice depends on some parameters of interest that can be modified in the program, like density or link dimensions. Also, we will be able to get strain-stress data in all links in the course of a step, and then optimize those dimensions. To finish, some results are also presented that confirm the interest of the developed code.
UR  - https://www.sv-jme.eu/article/kinematics-and-dynamics-of-the-quasi-passive-biped-pasibot/
Meneses, Jesús, Castejón, Cristina, Corral, Eduardo, Rubio, Higinio, AND García-Prada, Juan Carlos.
"Kinematics and Dynamics of the Quasi-Passive Biped “PASIBOT”" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 57 Number 12 (29 June 2018)

Authors

Affiliations

  • University Carlos III de Madrid, Department of Mechanical Engineering, MAQLAB group
  • University Carlos III de Madrid, Department of Mechanical Engineering, MAQLAB group
  • University Carlos III de Madrid, Department of Mechanical Engineering, MAQLAB group
  • University Carlos III de Madrid, Department of Mechanical Engineering, MAQLAB group
  • University Carlos III de Madrid, Department of Mechanical Engineering, MAQLAB group

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 57(2011)12, 879-887

10.5545/sv-jme.2010.210

A quasi-passive biped (having only one actuator) developed into a Spanish project called “PASIBOT” [1] is presented in this article. We focus on the PASIBOT’s topology, kinematics and dynamics, and we describe a program designed for carrying out the corresponding calculations. This code provides for all kinematic and dynamic data, as functions of time, along one step: position, velocity and acceleration of all members, as well as all the forces and torques on each of them, motor torque included. This latter information has helped us to choose the required motor, as this choice depends on some parameters of interest that can be modified in the program, like density or link dimensions. Also, we will be able to get strain-stress data in all links in the course of a step, and then optimize those dimensions. To finish, some results are also presented that confirm the interest of the developed code.

mechanism analysis; quasi-passive biped; walking robots