Electronics in Physics & Robotics Research Article Kinematic Modeling and Simulation of Eleven-Links Biped Robot With Arms (original) (raw)
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Kinematic Modeling and Simulation of Eleven-Links Biped Robot With Arms
Gait generation for humanoids and humanoid walking has been subject of many researches in robotics. This paper focuses on mathematical simulation of biped robots and investigating walking stability regarding zero moment point (ZMP) criteria; it also proposes a simple algorithm for humanoid walking with more links such as arms and forearms using proper parameters. Raising the number of links, the number of effective parameter instability grows rapidly and leads to be complicated and time consuming equations. In order to tackle the issue, a new method, step by step ZMP calculating is used. It can be seen that robot walking pattern with the swinging arm and forearm is like a human walking patterns. Besides, it is understood that a robot with arms has more stability in comparison with the robot without arms. Moreover, it is concluded that robot with forearms has more stability in comparison with the robot with arms.
Design and Simulation of a Walking Biped Robot using MATLAB/Simscape/Multibody
2020
This research describes the modeling and control of a humanoid robot using MATLAB/Simscape/Multibody. The focus is to obtain human-like walk, so the robot was designed to resemble human proportions and joints were developed to resemble the hip, knee and ankle joint of humans, and thereby enabling walking. The designed humanoid robot, called “Little”, measures14.94 cm tall and with 31 actuated degrees of freedom. Majority of the humanoids are design with straight links and with the zero position at the torso. The zero position at the torso makes the torso to be at a static position while the legs will be swinging. This research uses MATLAB/Simscape/Multibody as an open-source platform for exploration of humanoid and to support future development on manipulation and walking. The robotic humanoid is designed using MATLAB/Simscape/Multibody with all the joint angles configured to imitate the human joint angles and contact forces are placed on the feet of the humanoid to transfer the zer...
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.
Dynamic Modelling and Analyzing of a Walking of Humanoid Robot
Strojnícky casopis – Journal of Mechanical Engineering, 2018
This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model ...
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.
Modeling and dynamic analysis of the biped robot
2015 15th International Conference on Control, Automation and Systems (ICCAS), 2015
Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links connected together by joint which ends up in a complex structure and difficult to make it mimic human like locomotion gait which is dynamic in nature and at the same time stable in the sense of not falling by. This paper presents dynamic equations of motion and its Matlab simulation of joints position. These dynamic equations are derived by starting with the kinematics which includes forward kinematics (FK) derived by using the Denavit-Hartenberg notation and inverse kinematics (IK) and then solving the dynamics of the biped robot. Two well-known methods for solving the dynamic of the robot are Newton-Euler formulation and Euler-Lagrangian formulation. This work uses the Euler-Lagrange formulation as it is a fancy formulation technique for solving dynamics instead of finding all the forces, velocities using Newton-Euler formulation.
Zero-Moment Point-Based Biped Robot with Different Walking Patterns
International Journal of Intelligent Systems and Applications, 2014
This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa. All these methods depend on linear pendulum mode (LPM) to predict the trajectory of the center of gravity (COG) of the biped. It has been found that the three methods could give the same motion of the COG for the biped. The second issue is investigation of the foot trajectory with different walking patterns especially during the DSP. The characteristics of foot rotation can improve the stability performance with uniform configurations. Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM. The results show that keeping the stance foot flat at beginning of the DSP is necessary for balancing the biped robot.
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.
Energy and Stability Analysis of Biped Locomotion
2017
This paper presents energy and stability functions, integrating the stability parameters of the Zero Moment Point (ZMP) classed bipeds where stability parameters are the positions of Center of Mass (CoM) and ZMP respectively. The Energy function is derived using the concept of Orbital Energy and is optimized using Real Coded Genetic Algorithm to produce an optimum set of walk parameters, which consumes minimum energy, during walking. A Stability function is also proposed, which is obtained by modifying the pre-existing ZMP trajectory. The ZMP trajectory is modified in such a manner, that it remains at the center of the convex hull, not only during the single support phase, but also during the transition of the robot from the Double Support Phase (DSP) to Single Support Phase (SSP) and vice-versa. The analytical results show that, when the energy function is optimized, the stability of the robot decreases. Similarly, if the stability function is optimized, the energy consumed by the ...
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.