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This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed. The robot walking scheme depends upon the oscillating cylinder mechanism. Two DC motors are actuating the prismatic leg of the robot. Then, bond graph model is converted into the Simulink block which is further used for obstacle avoidance application...
The hybrid manipulators have benefits of both serial as well as parallel manipulators. In this paper, a planar hybrid manipulator with six degrees-of-freedom is proposed; it consists of two parallel manipulators each having three degrees-of-freedom. The models for forward and inverse dynamic analysis of this manipulator are presented with bond graph approach. The actuators of the manipulator have...
The multi-energy domain dynamic systems are of utmost importance; a number of researchers have carried out their modelling by taking advantage of this concept. The dynamic systems are very complex in nature as the time required for simulation is large and their computations become difficult. Therefore, the model reduction is done such that the dynamics of the systems are preserved and accuracy is...
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