The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom

1996 ◽  
Vol 118 (4) ◽  
pp. 683-690 ◽  
Author(s):  
Ching-Long Shih
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
The Body ◽  
Walking Robot ◽  
Walking Test ◽  
Biped Walking ◽  
Double Support ◽  
Dynamics And Control ◽  
Biped Walking Robot ◽  
And Control

This research studies the dynamics and motion control of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The statically stable walking of the biped robot is implemented by maintaining the center-of-gravity (cg) inside the convex region of the supporting foot/feet during both single-support and double-support phases. The dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of a prototype biped BR-1 and its experimental walking test results are described. The biped robot is able to walk on an even floor both statically and dynamically. On a flat plane, the biped can walk with a speed of 8 cm/second statically, and 20 cm/second dynamically.

Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys

2008 ◽  
Vol 20 (5) ◽  
pp. 793-800 ◽  
Author(s):  
Mami Nishida ◽  
◽  
Hua O. Wang ◽  
Kazuo Tanaka ◽  
Keyword(s):  
Shape Memory Alloys ◽  
Shape Memory ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Walking Robot ◽  
Biped Walking ◽  
Walking Behavior ◽  
Elastic Potential Energy ◽  
Biped Walking Robot ◽  
And Control

This paper presents a study on the development and control of a small biped walking robot using shape memory alloys (SMAs). We propose a flexible flat plate (FFP) consisting of a polyethylene plate and SMAs. Based on a detailed investigation of the properties of the SMA-based FFP structure, we develop a lightweight small walking robot incorporating multiple SMA-based FFPs. The walking robot has four degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA-based FFPs. The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The small robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting small biped walking robot weighs a mere 2.8 g (with a height of 70 mm). Our experimental results demonstrate the viability and utility of the small walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

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 of Biped Walking Robot Based on the Arduino

2013 ◽  
Vol 364 ◽  
pp. 361-364
Author(s):  
Jie Liu ◽  
Tao Wu
Keyword(s):  
Rotation Angle ◽  
Biped Robot ◽  
Robot Programming ◽  
Walking Robot ◽  
Servo Motor ◽  
Bipedal Robot ◽  
Biped Walking ◽  
Biped Walking Robot ◽  
Six Degree Of Freedom ◽  
And Control

This paper probes a six-degree of freedom bipedal robot driving by servos and introduces the walking principle, structure composition and control system of the biped robot. Arduino is used to control the entire course of the movement. Based on the motion analysis of the biped walking robot, programming with the servo function, which is the Arduino software platform own specialized library functions to control the servo motor, control the rotation angle of the servos precisely. Ultimately complete the gait of the robot successfully.

Biped Walking Robot Gait Planning Research

2013 ◽  
Vol 706-708 ◽  
pp. 674-677
Author(s):  
Hai Long Chen ◽  
Xiao Wu ◽  
Jun Du ◽  
Jin Ping Tang
Keyword(s):  
Degrees Of Freedom ◽  
Original System ◽  
System Model ◽  
Walking Robots ◽  
Walking Robot ◽  
Transformation Theory ◽  
Biped Walking ◽  
Gait Planning ◽  
Biped Walking Robot ◽  
Build System

This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robots characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [, we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software.

scholarly journals A Low-Cost Anthropometric Walking Robot for Reproducing Gait Lab Data

2008 ◽  
Vol 5 (4) ◽  
pp. 187-194
Author(s):  
Rogério Eduardo da Silva Santana ◽  
Agenor de Toledo Fleury ◽  
Luciano Luporini Menegaldo
Keyword(s):  
Low Cost ◽  
Biped Robot ◽  
Human Gait ◽  
Walking Robot ◽  
Gait Patterns ◽  
Biped Walking Robot ◽  
Human Gait Analysis ◽  
And Control ◽  
Cost Components ◽  
Design Construction

Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.

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