scholarly journals Dynamic Walking of a Legged Robot in Underwater Environments

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3588 ◽  
Author(s):  
Portilla ◽  
Saltarén ◽  
Espinosa ◽  
Barroso ◽  
Cely ◽  
...  
Keyword(s):  
Legged Robot ◽  
Dynamic Walking ◽  
Zero Moment Point ◽  
Hydraulic Actuators ◽  
External Perturbations ◽  
Underwater Environment ◽  
Zero Moment

In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated.

scholarly journals A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories

2016 ◽  
Author(s):  
Siavash Rezazadeh ◽  
Robert D. Gregg
Keyword(s):  
Stable Limit Cycle ◽  
Humanoid Robots ◽  
Stable Limit ◽  
Dynamic Walking ◽  
Bipedal Robots ◽  
Bipedal Robot ◽  
External Perturbations ◽  
Control Framework ◽  
Zero Moment ◽  
The Stability

Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.

Detecting Zero-Moment Point in Legged Robot

2005 ◽  
pp. 229-236 ◽  
Author(s):  
H. Montes ◽  
S. Nabulsi ◽  
M. Armada
Keyword(s):  
Legged Robot ◽  
Zero Moment Point ◽  
Zero Moment

Near-Optimal Trajectory Generation of a Two-Legged Robot with Soft Sole on Staircase using PSO and ABC

2015 ◽  
Vol 3 (2) ◽  
pp. 1-19
Author(s):  
Naga Sudha Rani B ◽  
Vundavilli Pandu Ranga
Keyword(s):  
Dynamic Balance ◽  
Reaction Force ◽  
Biped Robot ◽  
Legged Robot ◽  
Walking Machine ◽  
Bee Colony ◽  
Zero Moment ◽  
Lumped Masses ◽  
Least Energy ◽  
Generation Problem

During biped locomotion the foot ground interaction plays an important role, as it takes the reaction force acting on the foot and allows stable walking of the biped robot. Generally, the foot is considered to be hard to solve the gait generation problem and dynamic balance aspects of the two-legged robot. However, a layer of rubber is placed on the sole of the robot to act as a shock absorber for all practical purposes. It is important to note that the soft sole gets deformed during walking of the robot and allows the limbs of the robot to bend that influences the dynamic balance of the walking machine. The aim of this study is to use two different non-traditional optimization algorithms, such as particle swarm optimization (PSO) and artificial bee colony (ABC) algorithms to obtain the optimal hip trajectory, damping coefficient and position of the lumped masses for a 7-DOF biped robot ascending the staircase. The dynamic balance of the gaits generated with soft sole is verified using the concept of zero moment point (ZMP). Further, the energy consumed in ascending the staircase with and without soft sole has been computed. The results of this study proved that, least energy is consumed with soft sole having correction for the deformation.

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