NDLI: Virtual Prototyping of the Four-Legged Walking Machine BISAM (2002)

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Virtual Prototyping of the Four-Legged Walking Machine BISAM (2002)

Content Provider	CiteSeerX
Author	Lenord, O. Albiez, J. Hiller, M.
Abstract	The four-legged walking machine BISAM (Biologically Inspired Walking Machine) is being developed at the FZI (Forschungszentrum Informatik) in Karlsruhe. The project aims to use biological inspiration to create a technical system taking advantage of the principles observed in natural locomotion. This leads to two different aims, the modeling of the natural locomotion on the one hand, and the virtual prototyping of the technical system on the other hand. The biological system is modeled to reproduce the cyclic motion and to calculate the applied driving momentum in the joints by solving the inverse dynamics problem. This is used to describe the relation between weight, velocity, foot positioning, stiffness of the legs and other important parameters that influence the stability of locomotion. These insights need to be applied to the technical system. A virtual prototype of the walking machine offers the opportunity to quickly verify the impact of adjustments to the construction and/or the control system. This papers focus is on the modular model of a mammalian locomotive system which has an object oriented structure that is open to be used for modeling of biological locomotion systems as well as technical systems. The system models of the simplified mammalian locomotion system and the BISAM walking machine are described in detail.
File Format	PDF
Publisher Date	2002-01-01
Access Restriction	Open
Subject Keyword	Technical System Virtual Prototyping Four-legged Walking Machine Bisam Natural Locomotion Applied Driving Momentum Virtual Prototype Simplified Mammalian Locomotion System Modular Model Biologically Inspired Walking Machine Control System Forschungszentrum Informatik Walking Machine Foot Positioning Object Oriented Structure Bisam Walking Machine Biological System Important Parameter Biological Locomotion System System Model Inverse Dynamic Problem Biological Inspiration Cyclic Motion Different Aim Mammalian Locomotive System
Content Type	Text

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