Modeling and Simulation of a Novel 16-DOF Humanoid Biped Robot

2012 ◽  
Author(s):  
C. Hernández-Santos ◽  
E. Rodriguez-Leal ◽  
R. Soto ◽  
J. L. Gordillo
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
Human Gait ◽  
Forward Kinematics ◽  
Kinematics And Dynamics ◽  
Lagrangian Dynamics ◽  
Biped Robots ◽  
Kinematic Chains ◽  
Body Parameters ◽  
The Mathematical Model

Humanoid biped robots are typically complex in design, having numerous degrees-of-freedom (DOF) due to the ambitious goal of mimicking the human gait. This paper presents the forward kinematics and dynamics of a new sixteen DOF humanoid biped robot. The synthesis of the kinematic chains is based on human body parameters in terms of ratios, range of motion, and physical length. The paper proposes a new architecture for a biped robot with seven DOF per each leg, adding one DOF that imitates the toe joint. The dynamic model is approached by dividing the legs into the sagittal and frontal planes, which simplifies the mathematical model by further applying the principle of Lagrangian dynamics. The paper contains several simulations and numerical examples to prove the analytical results.

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

2009 ◽  
Author(s):  
Santosh Pratap Singh ◽  
Ashish Dutta ◽  
Anupam Saxena
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Biped Robot ◽  
Single Step ◽  
Biped Robots ◽  
Gait Parameters ◽  
Reduction Of Energy Consumption ◽  
Torsion Springs ◽  
Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

scholarly journals Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach

2005 ◽  
Vol 2 (2) ◽  
pp. 111-116
Author(s):  
J. A. Rojas-Estrada ◽  
J. Marot ◽  
P. Sardain ◽  
G. Bessonnet
Keyword(s):  
Angular Momentum ◽  
Control Problem ◽  
Degrees Of Freedom ◽  
Biped Robot ◽  
Function Approach ◽  
Control Law ◽  
Total Rate ◽  
Biped Robots ◽  
Formal Problem

In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot.

Design of a Biped Toy Robot with an Automatic Center of Gravity Shifting Mechanism

2010 ◽  
Vol 118-120 ◽  
pp. 670-674
Author(s):  
Pai Shan Pa ◽  
Jinn Bao Jou
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
Center Of Gravity ◽  
Biped Robots ◽  
Zero Moment Point ◽  
Single Motor ◽  
Mechanical Products ◽  
Zero Moment ◽  
Crank Mechanism

The design of the biped toy robot in this study, presents a brand new concept compared to that of the conventional mechanical biped robots on the market. These conventional mechanical products rely mainly on a large sole area to stabilize the wobbling movement during walking. In this design walking stability is not achieved by large sole areas, but by having more degrees of freedom and automatically shifting the center of gravity as the robot walks. A single motor is used to drive the biped toy robot trunk so that the center of gravity is automatically shifted to achieve walking stability. The two feet are driven by four connecting rods for striding and leg-lifting action. More particularly, an equal parallel crank mechanism is provided that uses a single motor to drive the connecting rods, thereby swinging the center of gravity of the toy robot in time with striding frequency. In addition, the concept of the zero moment point is utilized in the shifting of the center of gravity allowing the biped robot to lift its legs, change step, and move forward in balance. This study also discusses the use of the four connecting rods, and the shifting of the center of gravity of the robot, as an alternative to the servomotors commonly used in conventional robots which are bulky, expensive and hard to control.

Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control

2014 ◽  
Vol 11 (02) ◽  
pp. 1450014 ◽  
Author(s):  
Xuefeng Zhou ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Wenqiang Wu ◽  
Xin Chen ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Walking Robot ◽  
Biped Robots ◽  
Planning And Control ◽  
Biped Walking Robot ◽  
And Control ◽  
High Energy Consumption

Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.

Design and Control of a 13-DOF Biped Robot Using Human Gait

2010 ◽  
Author(s):  
Reza Naghibi ◽  
Alireza Akbarzadeh Tootoonchi
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Golden Ratio ◽  
Biped Robot ◽  
Human Gait ◽  
Proper Number ◽  
Control Scheme ◽  
The One ◽  
And Control

This paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. The ultimate design goal was to design the structure to be as close to a lower part of human body as possible. Therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. The biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. The Biped is designed in SolidWorks and simulated in SimMechanic and COSMOSMotion. The movement of the joints are achieved by motors and harmonic drives. The contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.

Stability Region-Based Analysis of Walking and Push Recovery Control

2020 ◽  
Author(s):  
William Z. Peng ◽  
Hyunjong Song ◽  
Joo H. Kim
Keyword(s):  
Biped Robot ◽  
Step Length ◽  
Stability Control ◽  
Human Gait ◽  
Biped Robots ◽  
Reduced Order ◽  
Double Support ◽  
Push Recovery ◽  
The Stability ◽  
Time Required

Abstract Push recovery is a vital aspect of balance stability control in biped robots. In this work, the response of a biped system to unexpected external perturbations is analyzed for different tasks and controllers using stability criteria based on balanced and steppable regions. The steppable region for a given step length and the balanced regions for single and double support contacts are constructed for a biped robot using optimization with its system dynamics, kinematic limits, actuation limits, and contact interactions with the environment. The regions are compared with those of a human subject to demonstrate that human gait exhibits unbalanced (but steppable) phases largely absent in robotic gait. These regions are also applied to a comparative analysis against capturability, where the computed steppable region is significantly larger than the capture region of an equivalent reduced-order model. The stability regions are also used to compare the performance of controllers during a double support balancing task. The implemented hip, knee, and ankle strategy-based controller led to improved stabilization — i.e., decreased foot tipping and time required to balance — relative to an existing hip and ankle controller and a gyro feedback controller. The proposed approaches are applicable to the analysis of any bipedal task and stability controller in general.

The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots

2007 ◽  
Vol 11 (8) ◽  
pp. 946-955 ◽  
Author(s):  
Guang Lei Liu ◽  
◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Degrees Of Freedom ◽  
Central Pattern Generators ◽  
Biped Robot ◽  
Coupling Coefficients ◽  
Neuron Models ◽  
Bipedal Robots ◽  
Biped Robots ◽  
Coupling Dynamics ◽  
Pattern Generators ◽  
6 Degrees Of Freedom

We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustained rhythmic movement with robust gaits for bipedal robots. We discuss the design of a CPG model with new interconnection coupling links and its inhibitation coefficients for a CPG-based controller. The new design was studied through interaction between simulated interconnection coupling dynamics with six links and a musculoskeletal model with the 6 degrees of freedom (DOFs) of a biped robot. We used the weighted outputs of mutually inhibited oscillators as torques to actuate joints. We verified the effectiveness of our proposal through simulation and compared the results to those of Taga’s CPG model, confirming better, more efficient generation of stable rhythmic walking at different speeds and robustness in response to disturbances.

Study on the Kinematics of Planar Two-DOF Hybrid-Driven Robot

2012 ◽  
Vol 538-541 ◽  
pp. 717-724
Author(s):  
Sheng Tao Song ◽  
Rui Qin Li ◽  
Ai Ling Wang
Keyword(s):  
Mathematical Model ◽  
Transformation Method ◽  
Dynamics Simulation ◽  
Forward Kinematics ◽  
Kinematics And Dynamics ◽  
Kinematics Analysis ◽  
Main Research ◽  
The Mathematical Model

The main research of planar two-DOF hybrid-driven robot is on the planar five-bar and the seven-bar mechanism, the planar two-DOF seven-bar mechanism is taken as the research object in this paper, the Assur Groups transformation method is used for the forward kinematics analysis of this seven-bar mechanism. The mathematical model of this mechanism is established for the forward kinematics analysis, and the COSMOSMotion is used for the kinematics and dynamics simulation of this hybrid-driven seven-bar mechanism.

scholarly journals Modeling and Control of Torso Compass Gait Biped Robot with AI Controller

2017 ◽  
Vol 13 (1) ◽  
pp. 32-37
Author(s):  
Abbas Miry
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
Optimization Method ◽  
Genetic Optimization ◽  
Modeling And Control ◽  
Optimal Value ◽  
Result Show ◽  
The Matrix ◽  
And Control ◽  
The Mathematical Model

This work presents the mathematical model for a torso compass gait biped robot with three degrees of freedom (DOF) which is comprised of two legs and torso. Euler Lagrange method's is used to drive the dynamic equation of robot with computed control is used as a controller. The relative angles are used to simplify the robot equation and get the symmetry of the matrix. Convention controller uses critical sampling to find the value of KP and Kv in computed controller, in this paper the Genetic optimization method is used to find the optimal value of KP and Kv with suitable objective function which employ the error and overshoot to make the biped motion smooth as possible. To investigate the work of robot a Matlab 2013b is used and the result show success of modeling.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Sign in / Sign up

Export Citation Format

Share Document