Design and walking pattern generation of a biped robot (original) (raw)
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International Journal of Advanced Computer Science and Applications
The research works contained in this paper are focused on the generation of a stable walking pattern of a biped robot and the study of its dynamic equilibrium while controlling the two following criteria; the centre of gravity COG and the zero-moment point ZMP. The stability was controlled where the biped have to avoid collision with obstacle. The kinematic constraints were also taken into consideration during the walking of the biped robot. In fact, the generation of the walking patterns is composed of several stages. First, we used the Kajita method for the generation of the COG trajectory, based on the linear inverted pendulum LIPM during the simple support phase SSP and linear pendulum model LPM during double support phase DSP. After that, we used two 4 th spline function to generate the swing foot trajectory during the SSP and we used exact formulate for the foot trajectory during DSP. Finally, Newton's algorithm was performed (at the level of the inverse geometric model), in order to calculate the different joints according to the desired trajectories of the hip and the feet. Ground reaction forces were also determined from the dynamic model to satisfy the kinematic constraints on both feet of the biped. The generation of walking is done for two different speeds. To study the biped balance, ZMP generation algorithm was performed during the different walking phases and the results obtained for the two cases were compared.
A Simple Algorithm for Generating Stable Biped Walking Patterns
International Journal of Computer Applications, 2014
This paper proposes a thorough algorithm that can tune the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints. Two walking patterns of biped locomotion have been investigated using the proposed algorithm. The distinction of these walking patterns is that the stance foot will stay fixed during the first sub-phase of the DSP for pattern 1, while it will rotate simultaneously at beginning of the DSP for pattern 2. A seven-link biped robot is simulated with the proposed algorithm. The results show that the proposed algorithm can compensate for the deviation of the ZMP trajectory due to approximate model of the pendulum model; thus balanced motion could be generated. In addition, it is shown that keeping the stance foot fixed during the first sub-phase of the DSP is necessary to evade deviation of ZMP from its desired trajectory resulting in unbalanced motion; thus, walking pattern 1 is preferred practically.
Kinematics and dynamics modelling of the biped robot
IFAC Proceedings Volumes, 2013
Analytical techniques are presented for the motion planning and control of a 10 degree-of-freedom biped walking robot. From the Denavit-Hartenberg method and Newton-Euler equations, joint torques are obtained in terms of joint trajectories and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain stability of walking biped robot Archie developed in IHRT. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot.
Walking principle of bipcd robot is clarified with Z M P (Zem Moment Point) concept, friction constraint, and inverted pendulum model in this paper. The stable waking condition is derived out with ZMF' constraint, friction constraint, and inverted pendulum model. With this result, the nature tbat the biped walking is in fact a continually acceleration and deceleration motion is presented and its walking velocity can be adjusted by controlling landing point. The desired ZMP trajectory is given out based on derived stable walking condition, and the motion parameters of bipcd robot, such as waking stride, period, and their restriction are investigated. The approach used in this paper is expected to exend to analyze the motion of running and jump robot.
An inverted pendulum based approach to biped trajectory generation with swing leg dynamics
2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007
Reference trajectory generation is one of the key problems in biped walking robot research. The linear inverted pendulum model (LIPM) is employed widely as a useful model which simplifies trajectory generation task. Many reference generation algorithms use the Zero Moment Point (ZMP) Criterion for the LIPM in order to achieve stable walking trajectories. However, LIMP ignores the dynamics of the swing leg. This can lead to tracking problems, especially when the legs are heavy. This paper uses a two-mass LIPM and proposes a fifth order state space description for the dynamics of the robot body and the swing leg in the swing phase. The body center of mass (CMB) reference trajectory is obtained for given foot placement references and the desired ZMP trajectory. An inverse kinematics based position controller is then employed for locomotion. The walking performances with the one-mass and one-mass-two-mass switching linear inverted pendulum models are finally compared via 3D full-dynamics simulations of a 12 degrees of freedom (DOF) biped robot. The results indicate that the proposed model switching between one-mass and two-mass models is useful in improving the stability of the walk.
Considerations on Dynamic and Static Stability of a Biped Robot
This paper describes the control of a biped robot, that uses an inverted pendulum for its balance. A control method that consists of the balance of the gaits, through the correction of the lateral and longitudinal angles of the pendulum is proposed in this work. This method p resents three phases: first t he trajectory of the foot i n movement is defined, applying the inverse kinematics to calculate the robot's internal angles, and the direct kinematics is used to ob tain the positions and o rientations of the robot's joints; then the linear and angular accelerations are obtained; l ast, the zero moment point (ZMP) is calculated as a verification parameter of the requested margin of stability. Simulation of the robot gaits to walk in horizontal, sloping plans, and up and down stairs is also made. In order to decrease the calculation time of the dynamic stability, the impact of using zero pendulum angles as starting points for the interactive process of achieving the desire...
Legged machines have not been offered biologically realistic movement patterns and behaviours due to the limitations in kinematic, dynamics and control technique. When the degrees of freedom (DOF) increases, the robot becomes complex and it affects the postural stability. A loss of postural stability of biped may have potentially serious consequences and this demands thorough analysis for the better prediction and elimination of the possibility of fall. This work presents the modelling and simulation of twelve degrees of freedom (DOF) biped robot, walking along a pre-defined trajectory after considering the stability in sagittal and frontal planes based upon zero moment point (ZMP) criterion. Kinematic modelling and dynamic modelling of the robot are done using Denavit-Hartenberg (DH) parameters and Newton-Euler algorithm respectively. This paper also proposes Levenberg-Marquardt method for finding inverse kinematic solutions and determines the size of the foot based on ZMP for the stable motion of biped. Biped robot locomotion is simulated, kinematic and dynamic parameters are plotted using MATLAB. Cycloidal gait trajectory is experimentally validated for a particular step length of the biped.
SIMULATION and CONTROL of a BIPED WALKING ROBOT using KINEMATIC and DYNAMIC MODELLING
In this article, we intend to consider the behavior and control of a biped walking robot using kinematic and dynamic relations. At first, by using simple model of humanoid robot and essentional equations the angles, angular velocities, accelerations of motors and required torques for moving on a straight line are find out. In the second step considering numerical values of the robot parameters and constructing the dynamic model the abilities of robot are examined and simulated.
Design of Biped Robot with Anthropomorphic Gait
WSEAS Transactions on Systems and Control archive, 2019
This research develops a biped robot and designs a new walking pattern in order to achieve dynamic gait stability. One of the most widely used methods for the synthesis of humanoid gait is the zero-moment point method, proposed by Vukobratovic and Juricic. This method is investigated and evaluated through computer simulation of forward motion performed by a biped robot with 10 degrees of freedom. On the basis of the simulation results, a new walking model is proposed that is inspired by the human gait. The design of a real biped robot with 6 degrees is described in detail. The hardware and software components required for anthropomorphic gait synthesis and wireless control are evaluated in the execution of realistic use cases like forward and backward movement, left and right rotation and kicking a ball.
Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot
Al-Rafidain Engineering Journal (AREJ), 2020
Another type of legged robots is a bipedal walking robot or humanoid robot, which can be designed to implement various functions as necessary and mimic like a human. Often, balance while moving and when the first leg in the swing process and the second leg on the ground is difficult than most other kinds of robots. Two bipedal robot prototypes are designed with 10 degrees of freedom and 17 degrees of freedom to fulfill a gait cycle. The robot's locomotion can also be controlled via two types of microcontrollers, Arduino microcontroller and LOBOT LSC-32 driver. So, the KHR-2HV simulation model by Webots is used to simulate the experimental results of the bipedal robots. The results showed that the cubic polynomial foot trajectory for 10 degrees of freedom and 17 degrees of freedom bipedal robots are (= 4 × 10 −16 3 − 0.0433 2 + 0.4329 + 0.7619 with regression 0.9276) and (= −0.000074 3 − 0.13 2 + 0.671 + 1.1326 with regression 0.939) respectively. After several methods for programming, the bipedal robot by LOBOT LSC-32 driver model is the better than Arduino with PCA 96685 driver-16 channel servo driver. Experimental results carried out during the KHR-2HV simulation model by Webots program. This model gives a better estimation and a fast response to confirm the stability of the10 degrees of freedom and 17 degrees of freedom bipedal robots.