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Influence de la cinématique d'une articulation de genou polycentrique sur la marche d'un robot bipède

Abstract : This work is devoted to the study of the influence of a polycentric knee joint during walking motions of a biped robot. This type of joint allows a movement of the instantaneous center of rotation of the knee like in human case, contrary to the most humanoid robots, which use single revolute knees. First, the kinematics of the human knee joint is presented, to determine a mechanism to reproduce the movements of the human knee. This joint consists of a parallel mechanism and is studied from the kinematic point of view to determine its workspace without singularities. The Lagrange formalism is used to define the dynamic model of the biped robot with the addition of Lagrange multipliers to take into account the internal forces on the four-bar knee joints. A parametric optimization problem under constraints is purposed to generate a set of optimal trajectories in energy with or without double support phases and with impulsive impact. The trajectories thus generated are compared to the same type of trajectory obtained in the case of using revolute joints for the knees and show a decrease of the energy consumption for different speeds with the four-bar knees and for the different type of walking gait. This reduction of energy is obtained by the limitation of the variation of potential energy compared to the robot using revolute knees. Finally, we show an energy reduction by using of springs in parallel of the actuator for the four-bar knee joints.
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Contributor : Arnaud Hamon <>
Submitted on : Monday, January 9, 2012 - 2:45:59 PM
Last modification on : Wednesday, December 19, 2018 - 3:02:04 PM
Long-term archiving on: : Tuesday, April 10, 2012 - 2:35:16 AM


  • HAL Id : tel-00657914, version 1



Arnaud Hamon. Influence de la cinématique d'une articulation de genou polycentrique sur la marche d'un robot bipède. Automatique / Robotique. Université de Nantes, 2011. Français. ⟨tel-00657914⟩



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