Design and walking pattern generation of a biped robot
| Autor: | Ahmet Özkurt, Tolga Olcay |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Inverse kinematics Computer science Stability (learning theory) 02 engineering and technology Inverted pendulum Computer Science::Robotics 020901 industrial engineering & automation Control theory Control system 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing Electrical and Electronic Engineering Walking trajectory generation zero moment point inverted pendulum biped robot Zero moment point Biped robot ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Volume: 25, Issue: 2 761-769 Turkish Journal of Electrical Engineering and Computer Science |
| ISSN: | 1300-0632 1303-6203 |
| Popis: | This paper presents the design of a biped robot, the walking trajectory generation method, and experimental results about biped walking. Walking trajectory generation is one of the deterministic factors in walking robot applications. Different approaches for stable walking trajectory are worked on in robotic research. The linear inverted pendulum model (LIPM) is an effective method used with the zero moment point (ZMP) criteria. Biped robot trunk and feet moving patterns are generated depending on these fundamental methods. In this study, generated trajectories were tested by a 12 degree of freedom (DOF) biped robot RUBI built at Dokuz Eylül University. In the experimental work, the joint angles obtained by using inverse kinematics from the generated trajectories were implemented on the robot. The results showed that even with a simple control system implementation of generated trajectories is very promising in terms of stability and reducing complexity. |
| Databáze: | OpenAIRE |
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