CYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT
| Autor: | Jesus E. Fierro P., J. Alfonso Pamanes G., Victor De-Leon-Gomez |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science General Engineering Stability (learning theory) General Physics and Astronomy 02 engineering and technology stability Revolute joint gait Nao humanoid robot cycloidal walking pattern 020901 industrial engineering & automation Gait (human) Control theory Cycloid double support phase 0202 electrical engineering electronic engineering information engineering single support phase Robot 020201 artificial intelligence & image processing Point (geometry) Actuator Humanoid robot |
| Zdroj: | EUREKA: Physics and Engineering. 6:83-94 |
| ISSN: | 2461-4262 2461-4254 |
| DOI: | 10.21303/2461-4262.2019.001057 |
| Popis: | The commercialNaohumanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion ofzero-moment point(ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking. |
| Databáze: | OpenAIRE |
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