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Feeding knees angle to the walking robot

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Sizhe An
Sizhe An 2019 年 6 月 30 日
コメント済み: Sizhe An 2019 年 8 月 9 日
Hi,
I'm doing gait analysis for human-being.
I watched a great video about how to build a walking robot and observe many metrics when the robot walking in this following link:https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-walking-robots-part-1-modeling-and-simulation-1505941655157.html
However, my target is in an opposite aspect. I recored the real knees degree data when people walking. Now I want to feed these degree data into the robot then observe how the robot walks. Is this possible?

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Sebastian Castro
Sebastian Castro 2019 年 7 月 1 日
Thanks for tagging this post with roboticsarena so we got that notification! Much appreciated.
In Simscape Multibody, you can choose to actuate joints either with torques or with motion profiles. I am guessing you want to put in a motion profile from the real knee angle data. See the "Motion Input" section below.
Or, this example:
- Sebastian

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Sizhe An
Sizhe An 2019 年 7 月 3 日
I found some other parameters seem related to my issue. Like contact_stiffness, contact_damping, contact_point_radius and so on...
How can I tune these parameters? Is there a explanation regarding them?
Sebastian Castro
Sebastian Castro 2019 年 7 月 4 日
That's right. The heavier the robot, the higher the stiffness needs to be... else it might fall through.
You should pick something big enough to hold the weight at a specified displacement (much smaller than the thickness of the foot).
Force = Stiffness*Displacement
For more information, see here:
https://blogs.mathworks.com/racing-lounge/2017/09/12/introduction-to-contact-modeling/
Sizhe An
Sizhe An 2019 年 8 月 9 日
Hi Sebastian,
I kind of modify the four bar through revolute joints to a easy robotic lower lambs. And I give the input angles to the leg then observe how it works. It turns out it works very well and now I want to add one more legs but I got stuck.
As shown in Fig.1, l1 is the hip and l2 is the leg. This is exactly the model I wanna build. α and β I got from sensors, which is the input. I wanna observe how l1 and l2 rotates when α, β is changing.model.PNG
However, as shown in Fig.2, I can only build one hip and leg here. I have no idea how to add another lamb on the same pivot mount. I have a look in https://ww2.mathworks.cn/help/physmod/sm/ug/model-four-bar.html but it doesn't help much...simulink_model.PNG
My design file is attached. Can you please give me an idea how I can make the model I want?
Thank you very much!!

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