Investigation of a non-anthropomorphic bipedal robot with stability, agility, and simplicity
| Autor: | Dennis Hong, Sepehr Ghassemi, Alexandra Pogue, Jeffrey Yu, Joshua Hooks |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Feedback control 02 engineering and technology Gait Sagittal plane Preferred walking speed 020901 industrial engineering & automation Robotic systems medicine.anatomical_structure Control theory 0202 electrical engineering electronic engineering information engineering medicine Robot 020201 artificial intelligence & image processing business Simulation |
| Zdroj: | URAI |
| DOI: | 10.1109/urai.2016.7734010 |
| Popis: | This paper presents a novel bipedal robot concept and prototype that takes inspiration from humanoids but features fundamental differences that drastically improve its agility and stability while reducing its complexity and cost. This Non-Anthropomorphic Bipedal Robotic System (NABiRoS) modifies the traditional bipedal form by aligning the legs in the sagittal plane and adding a compliance to the feet. The platform is comparable in height to a human, but weighs much less because of its lightweight architecture and novel leg configuration. The inclusion of the compliant element showed immense improvements in the stability and robustness of walking gaits on the prototype, allowing the robot to remain stable during locomotion without any inertial feedback control. NABiRoS was able to achieve walking speeds of up to 0.75km/h (0.21m/s) using a simple pre-processed ZMP based gait and a positioning accuracy of +/− 0.04m with a preprocessed quasi-static algorithm. |
| Databáze: | OpenAIRE |
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