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 consists of the determination of the 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 articulated system. To validate the developed algorithm, an articulated system prototype of a robotic leg was elaborated in which the developed methodology will be implemented and tested.