Modeling of Rolling Knee Biped Robot

Mathieu Hobon (1) , Nafissa Lakbakbi Elyaaqoubi (1) , Gabriel Abba (1)

1 LCFC - Laboratoire de Conception Fabrication Commande

This report presents the dynamic modeling of a planar biped robot. The robot has seven bodies and 9 DOF. Two kinematic configurations are investigated. The first has only revolute joints on all articulation. The second differs by the presence of rolling contact on the knees. All matrices involved in the model are given in explicit form. All the possibilities of contact between the feet and the ground are considered.

Mots clés: Biped robot; Rolling knee; Dynamic model; Contact model

Domaines: Automatique / Robotique; Mécanique [physics.med-ph]

Mathieu Hobon, Nafissa Lakbakbi Elyaaqoubi, Gabriel Abba. Modeling of Rolling Knee Biped Robot. 2013. ⟨hal-00881386⟩