Core-centered Actuation for Biped Locomotion of Humanoid Robots
| Autor: | Umer Huzaifa, Joshua A. Schultz, Caleb Fuller, Amy LaViers |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Physics::Medical Physics 010103 numerical & computational mathematics 02 engineering and technology 01 natural sciences Gait Sagittal plane Computer Science::Robotics Mechanism (engineering) 020901 industrial engineering & automation medicine.anatomical_structure Control theory Component (UML) Trajectory medicine Ball (bearing) Robot 0101 mathematics Humanoid robot |
| Zdroj: | IROS |
| DOI: | 10.1109/iros45743.2020.9341364 |
| Popis: | In this paper we examine a novel method of core-located actuation that we believe can be used to vary gaits in a compass-gait walker, using critical analysis of a ball-in-tray mechanism to apply forces at the robot’s "pelvis". The dynamic equations of motion of a tilting ball-tray system with several design parameters are developed and simulated for various tray designs. Results show that changes in tray design do indeed significantly affect the trajectory. When compared to a hardware ball-tray system, the results show good agreement with the simulation. The sagittal plane component of the ball’s trajectory is applied to the motion of a corresponding mass at the "pelvis" of a compass-gait walker. Simulations of the compass-gait walker show that this trajectory generates a feasible gait. |
| Databáze: | OpenAIRE |
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