Proposal of Modeling, Simulation and Implementation of Robotics Leg Prosthesis.

摘要

This paper presents a proposal of modeling, simulation and implementation of a robotic biped locomotion system. The initial step is consisted of the determination of cinematic characteristics and the system performance during walking. Starting from the methodology of the generated kinematics model, several computational programs were elaborated with the purpose of reproducing and managing the space displacement, velocity and acceleration of the articulate system. To validate the developed algorithm, was elaborated an articulate system prototype of robotic leg in which will be implemented and tested with the developed methodology.