Development of a passive biped robot digital twin using analysis, experiments, and a multibody simulation environment
Mechanism and Machine Theory, ISSN: 0094-114X, Vol: 163, Page: 104346
2021
- 21Citations
- 35Captures
Metric Options: Counts1 Year3 YearSelecting the 1-year or 3-year option will change the metrics count to percentiles, illustrating how an article or review compares to other articles or reviews within the selected time period in the same journal. Selecting the 1-year option compares the metrics against other articles/reviews that were also published in the same calendar year. Selecting the 3-year option compares the metrics against other articles/reviews that were also published in the same calendar year plus the two years prior.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Article Description
This paper presents a unified framework for the design and development of a passive biped robot and of its digital twin. A serial procedure is followed starting from the system's physical description, continuing to the dynamic analysis of independent models, and concluding with an experimental validation. The biped's mechanical model is tailored to preserve passive walker key functionalities without sacrificing design simplicity. The mechanical model gives rise to a mathematical model that describes the biped's gait, and to a multibody dynamics model of the biped. A passive biped robot prototype is developed based on the model. The prototype is equipped with a wireless sensor measuring system to enable data acquisition. The highlight of this work is the high degree of coincidence achieved between the passive response of the numerically simulated mathematical model, the response obtained by a multibody dynamics simulation, and the experimentally obtained response of the physical passive walking robot. This finding verifies the simulation methods used and encourages the use of a carefully designed digital twin in the design iterations involved in the development of walking robots.
Bibliographic Details
http://www.sciencedirect.com/science/article/pii/S0094114X2100104X; http://dx.doi.org/10.1016/j.mechmachtheory.2021.104346; http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85105694098&origin=inward; https://linkinghub.elsevier.com/retrieve/pii/S0094114X2100104X; https://dx.doi.org/10.1016/j.mechmachtheory.2021.104346
Elsevier BV
Provide Feedback
Have ideas for a new metric? Would you like to see something else here?Let us know