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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Main Authors: Hadi El Daou, Paul-Antoine Libourel, Sabine Renous, Vincent Bels, Jean-Claude Guinot
Format: Article
Language:English
Published: SAGE Publishing 2013-05-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55559
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spelling 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
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