The positions effect of biarticular muscles on the walking fatigue of bipedal robots
Journal Title: Recueil de mécanique - Year 2016, Vol 1, Issue 2
Abstract
The objective of this paper is to model a bipedal robot with springs like biarticular muscles and to study the positions effect of biarticular muscles on the walking fatigue of bipedal robots through the analysis of the works of the ground reaction force (GRF) accumulated at joints and the analysis of the works done by biarticular muscles. We can define the walking fatigue in this paper by the fatigue of joints and muscles caused by the increment of the works accumulated at joints and the increment of the works done by biarticular muscles during the walk period of bipedal robots. It’s found from this study that the position of the muscle biceps femoris (BF) has a strong impact on the fatigue of leg joints and the fatigue of the muscle itself during the walk period of bipedal robots.
Authors and Affiliations
Brahim FERNINI, Mustapha TEMMAR
Keywords
Related Articles
- EP ID EP302253
- DOI 10.5281/zenodo.1134941
- Views 56
- Downloads 0
Numerical study of the chimney-collector junction geometry influence on the solar chimney performances
The aim of this work is to study the influence of the chimney-collector junction geometry on the performance of the solar chimney CCS. Three geometries are chosen for this study: perpendicular, curved and inclined. A mat...
DTC-RNA control with 36 sectors of induction motor by PI-fuzzy speed regulator
Direct Torque Control (DTC) is the direct control of the electromagnetic torque of the machine. This article presents a 36-sectors DTC command of an induction machine based on intelligent controllers. A classical PI cont...
Analysis numerical of one-dimensional heat transfer for desert house
The main objective of this work is to study the thermal exchanges in order to optimize the solar contributions in a habitable enclosure located in a desert region of Algeria (ADRAR). The enclosure walls are the only capa...
Temperature evaluation on a transmission by timing belt «Binder magnetic»
Transmissions by synchronous belts combine the advantages of transmissions by single belts (plates, trapezoidal or striated) due to their low weight, their low maintenance, great beaches of linear speeds and big transmis...
The highlighting of an internal combustion engine piston ring radial oscillations
This paper deals with the definition of the lube-oil film thickness in the piston ring cylinder liner junction of an internal combustion engine. At first, a mathematical model for the estimation of the film thickness is...