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Modelling and Design of a Tridimensional Compliant Leg for Bioloid Quadruped |
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PP: 1501-1507 |
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Author(s) |
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Mafalda Couto,
Cristina P. Santos,
Jose Machado,
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Abstract |
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| In the growing field of rehabilitation robotics, the modelling of a real robot is a complex and passionate challenge. On the
crossing point of mechanics, physics and computer-science, the development of a complete 3D model involves the knowledge of the
different physic properties, for an accurate simulation. In this paper, it is proposed the design of an efficient three-dimensional model of
the quadruped Bioloid robot setting segmented pantographic legs, in order to actively retract the quadruped legs during locomotion and
minimizing large forces due to shocks, such that the robot is able to safely and dynamically interact with the user or the environment. |
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