Modeling of Rolling Knee Biped Robot

This report presents the dynamic modeling of a planar biped robot. The robot has seven bodies and 9 DOF. Two kinematic configurations are investigated. The first has only revolute joints on all articulation. The second differs by the presence of rolling contact on the knees. All matrices involved in the model are given in explicit form. All the possibilities of contact between the feet and the ground are considered.

Data and Resources

Additional Info

Field Value
Source https://hal.science/hal-00881386
Author Hobon, Mathieu, Lakbakbi Elyaaqoubi, Nafissa, Abba, Gabriel
Maintainer CCSD
Last Updated May 9, 2026, 02:36 (UTC)
Created May 9, 2026, 02:36 (UTC)
Identifier hal-00881386
Language en
Rights https://about.hal.science/hal-authorisation-v1/
contributor Laboratoire de Conception Fabrication Commande (LCFC) ; Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies
creator Hobon, Mathieu
date 2013-12-04T00:00:00
harvest_object_id e7b65f45-b0e3-46bf-8505-5fd7d3588424
harvest_source_id 3374d638-d20b-4672-ba96-a23232d55657
harvest_source_title test moissonnage SELUNE
metadata_modified 2026-03-27T00:00:00
relation info:eu-repo/semantics/altIdentifier/hdl/http://hdl.handle.net/10985/7480
set_spec type:REPORT