Theoretical and experimental investigations of time-varying contact problems in miliwalking machines (A case study)

Janusz Frączek , Adam Morecki


This paper presents the results of modelling, simulation of dynamics and measurements of the contact force of six-legged, miliwalking machine - called HERMESTM II. The accurate dynamic model of the walking machine is the crucial task to choose a proper control scheme for the robot. One of the most influential factors of the accuracy of the dynamical simulation is the appropriate contact force leg-ground model. The machine incorporates high-powered processing, rich sensing and high mobility into a compact body and is a good example of a mechatronic system. The methods presented in this paper are general and can be used in dynamic modelling of the walking machines having different mass characteristics and kinematical structures. To simulate HERMES dynamics, general multibody formalism (with constraints and DAE equations) was used. Three different contact-impact models were considered during simulation to compare their influence on simulation results (in the paper only one of them is presented). Moreover contact forces obtained from numerical simulations were compared with results of experimental measurements. Commercial DADS package was used.

Author Janusz Frączek (FPAE / IAAM)
Janusz Frączek,,
- The Institute of Aeronautics and Applied Mechanics
, Adam Morecki (FPAE)
Adam Morecki,,
- Faculty of Power and Aeronautical Engineering
Journal seriesMechatronics, ISSN 0957-4158
Issue year2000
ASJC Classification2208 Electrical and Electronic Engineering; 1706 Computer Science Applications; 2210 Mechanical Engineering
Languageen angielski
Score (nominal)25
Score sourcejournalList
Publication indicators Scopus Citations = 2; WoS Citations = 2; GS Citations = 7.0; Scopus SNIP (Source Normalised Impact per Paper): 2000 = 0.651; WoS Impact Factor: 2006 = 0.745 (2) - 2007=0.881 (5)
Citation count*7 (2015-04-21)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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