Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot
Abstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD...
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/55559 |
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doaj-0290d807be2443279ee06de7925fba9e2020-11-25T03:24:45ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-05-011010.5772/5555910.5772_55559Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped RobotHadi El Daou0Paul-Antoine Libourel1Sabine Renous2Vincent Bels3Jean-Claude Guinot4 Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie CURIE-Sorbonne Universités, Paris, France Museum National d'Histoire Naturelle, Paris, France Museum National d'Histoire Naturelle, Paris, France Museum National d'Histoire Naturelle, Paris, France Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie CURIE-Sorbonne Universités, Paris, FranceAbstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise-like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional-Derivative controller copying the joint angle trajectories calculated from the in vivo experiments.https://doi.org/10.5772/55559 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hadi El Daou Paul-Antoine Libourel Sabine Renous Vincent Bels Jean-Claude Guinot |
spellingShingle |
Hadi El Daou Paul-Antoine Libourel Sabine Renous Vincent Bels Jean-Claude Guinot Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot International Journal of Advanced Robotic Systems |
author_facet |
Hadi El Daou Paul-Antoine Libourel Sabine Renous Vincent Bels Jean-Claude Guinot |
author_sort |
Hadi El Daou |
title |
Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot |
title_short |
Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot |
title_full |
Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot |
title_fullStr |
Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot |
title_full_unstemmed |
Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot |
title_sort |
methods and experimental protocols to design a simulated bio-mimetic quadruped robot |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2013-05-01 |
description |
Abstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise-like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional-Derivative controller copying the joint angle trajectories calculated from the in vivo experiments. |
url |
https://doi.org/10.5772/55559 |
work_keys_str_mv |
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