Robot Leg Motion after Surface Impact – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

Robot Leg Motion after Surface Impact

This is a model of a robot leg motion after surface impact. The model consists of four parts; robot links modeled assuming rigid bodies, joints with joint limits to describe the range of motion, contact between foot and the ground surface, and a virtual spring which is used to determine the motion of the center of mass with respect to the foot. The simulation shows the robot leg motion during landing phase, the leg is bent until it reaches the  knee joint limit.

This model was developed by researchers at the Takanishi Laboratory of Waseda University.


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Model: Robot Leg Motion after Surface Impact

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Model Images
  • model image The model schematic of the system
  • results Simulation results
  • 3d image Animation of simulation result
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