Toward a dynamic analysis of bipedal robots inspired by human leg muscles
A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by ad...
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| Format: | Article |
| Language: | English |
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Faculty Mechanical Engineering, UMP
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf |
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| author | Fernini, B. Temmar, M. M. M., Noor |
| author_facet | Fernini, B. Temmar, M. M. M., Noor |
| author_sort | Fernini, B. |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by adding these passive springs in the leg mechanism of bipedal robot. On the other hand, using these springs may inflict a fatigue during walking due to the additional work that can provide to the joints. The main objective of this paper is to analyze the total work of the robot during walking by proposing four cases of the preload of the springs at the equilibrium position. It’s found from this study that the case that has the most energy saving and ensure the comfortable walking to the robot is when the two muscles (GAS) and (TA) are not preloaded to support the total weight at the equilibrium position. |
| first_indexed | 2025-11-15T02:25:26Z |
| format | Article |
| id | ump-21832 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:25:26Z |
| publishDate | 2018 |
| publisher | Faculty Mechanical Engineering, UMP |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-218322018-09-13T07:22:13Z http://umpir.ump.edu.my/id/eprint/21832/ Toward a dynamic analysis of bipedal robots inspired by human leg muscles Fernini, B. Temmar, M. M. M., Noor TJ Mechanical engineering and machinery A walking bipedal robot by adding passive springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs has been modeled in this paper. The stability of human-like leg walking can be achieved by adding these passive springs in the leg mechanism of bipedal robot. On the other hand, using these springs may inflict a fatigue during walking due to the additional work that can provide to the joints. The main objective of this paper is to analyze the total work of the robot during walking by proposing four cases of the preload of the springs at the equilibrium position. It’s found from this study that the case that has the most energy saving and ensure the comfortable walking to the robot is when the two muscles (GAS) and (TA) are not preloaded to support the total weight at the equilibrium position. Faculty Mechanical Engineering, UMP 2018 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf Fernini, B. and Temmar, M. and M. M., Noor (2018) Toward a dynamic analysis of bipedal robots inspired by human leg muscles. Journal of Mechanical Engineering and Sciences (JMES), 12 (2). pp. 3593-3604. ISSN 2231-8380 (online). (Published) http://jmes.ump.edu.my/images/Volume_12_Issue2_2018/06%20fernini%20et%20al.pdf doi: 10.15282/jmes.12.2.2018.6.031 |
| spellingShingle | TJ Mechanical engineering and machinery Fernini, B. Temmar, M. M. M., Noor Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title | Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title_full | Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title_fullStr | Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title_full_unstemmed | Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title_short | Toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| title_sort | toward a dynamic analysis of bipedal robots inspired by human leg muscles |
| topic | TJ Mechanical engineering and machinery |
| url | http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/ http://umpir.ump.edu.my/id/eprint/21832/1/Toward%20a%20dynamic%20analysis%20of%20bipedal%20robots%20inspired%20by%20human%20leg%20muscles.pdf |