scholarly journals DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT

2006 ◽  
Vol 03 (01) ◽  
pp. 105-126
Author(s):  
AHMAD BAGHERI ◽  
FARID NAJAFI ◽  
REZA FARROKHI ◽  
RAHMAN YOUSEFI MOGHADDAM ◽  
MOHAMMAD EBRAHIM FELEZI
Keyword(s):  
Equations Of Motion ◽  
Biped Robot ◽  
Adaptive Methods ◽  
Walking Robots ◽  
Physical Parameters ◽  
Human Beings ◽  
Adaptive Procedure ◽  
Link Length ◽  
Biped Walking ◽  
Dynamic Modification

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

scholarly journals A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments

2006 ◽  
Vol 3 (2) ◽  
pp. 121-130
Author(s):  
L.-I. Lugo-Villeda ◽  
V. Parra-Vega
Keyword(s):  
Biped Robot ◽  
Contact Forces ◽  
Human Beings ◽  
Biped Walking ◽  
Modeling And Control ◽  
Complex Process ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Support Leg ◽  
Theory And Experiments

Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive) active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.

Energy expenditure of a biped walking robot: instantaneous and degree-of-freedom-based instrumentation with human gait implications

Robotica ◽  
2016 ◽  
Vol 35 (5) ◽  
pp. 1054-1071 ◽  
Author(s):  
Dustyn Roberts ◽  
Joseph Quacinella ◽  
Joo H. Kim
Keyword(s):  
Energy Expenditure ◽  
Dynamic Balance ◽  
Biped Robot ◽  
Human Gait ◽  
Walking Robots ◽  
Time Duration ◽  
Cost Of Transport ◽  
Biped Walking ◽  
Double Support ◽  
Robotic Gait

SUMMARYEnergy expenditure (EE) is an important criterion for design and control of biped walking robots. However, the cause-effect analyses enabled by total EE, which is lumped over a time duration and all system degrees-of-freedom (DOFs), are limited. In this study, robotic gait energetics is evaluated through a DOF-based instrumentation system designed for instantaneous evaluation of bidirectional current and applied voltage at each joint actuator. The instrumentation system includes a dual-module arrangement of buffers and attenuators, and accommodates and synchronizes the voltage and current measurements from multiple actuators. For illustrative purposes, this system is implemented at each DC servomotor in a biped robot, DARwIn-OP, to analyze the electrical EE rates for walking at various speeds. In addition, a DOF-based model of instantaneous human EE rate is employed to enable quantitative characterization of robotic walking EE relative to that of humans. The robot's instantaneous lower-body EE rates are consistent with its periodic walking cycle, and their relative trends between single and double support phases are analogous to those of humans. The robotic cost of transport (COT) curve as a function of normalized speed is also consistent with the human COT in terms of its convexity. Conversely, the contrasting distributions of EE throughout the robot and human DOFs and the robotic COT curve's considerably larger magnitudes, smaller speed ranges, and higher sensitivity to speed illustrate the energetic consequences of stable but inefficient static walking in the biped robot relative to the more efficient dynamic walking of humans. These energetic characteristics enable the identification of the joints and gait cycle phases associated with inefficiency in biped robotic gait, and reflect the noticeable differences in the system parameters (rigid and flat versus segmented feet) and gait control strategies (bent versus straight knees, instants of peak ankle actuator torques, static versus dynamic balance stability). The proposed general instrumentation provides a quantitative approach to benchmarking human gait as well as general guidelines for the development of energy-efficient walking robots.

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

scholarly journals A Study of the Stability of a Plate-Like Load Towed beneath a Helicopter

1971 ◽  
Vol 13 (5) ◽  
pp. 330-343 ◽  
Author(s):  
D. F. Sheldon
Keyword(s):  
Equations Of Motion ◽  
Physical Parameters ◽  
Recent Experience ◽  
Wind Tunnel Testing ◽  
Stability Derivatives ◽  
Direct Indication ◽  
Metric Dimensions ◽  
Set Up ◽  
The Stability ◽  
Derivative Information

Recent experience has shown that a plate-like load suspended beneath a helicopter moving in horizontal forward flight has unstable characteristics at both low and high forward speeds. These findings have prompted a theoretical analysis to determine the longitudinal and lateral dynamic stability of a suspended pallet. Only the longitudinal stability is considered here. Although it is strictly a non-linear problem, the usual assumptions have been made to obtain linearized equations of motion. The aerodynamic derivative data required for these equations have been obtained, where possible, for the appropriate ranges of Reynolds and Strouhal number by means of static and dynamic wind tunnel testing. The resulting stability equations (with full aerodynamic derivative information) have been set up and solved, on a digital computer, to give direct indication of a stable or unstable system for a combination of physical parameters. These results have indicated a longitudinal unstable mode for all practical forward speeds. Simultaneously the important stability derivatives were found for this instability and modifications were made subsequently in the suspension system to eliminate the instabilities in the longitudinal sense. Throughout this paper, all metric dimensions are given approximately.

Quasi-human biped walking

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 257-268 ◽  
Author(s):  
Hun-ok Lim ◽  
Sang-ho Hyon ◽  
Samuel A. Setiawan ◽  
Atsuo Takanishi
Keyword(s):  
Motion Control ◽  
Continuous Time ◽  
Degrees Of Freedom ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Compensation Method ◽  
Biped Walking ◽  
Working Space ◽  
Physical Construction

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

Vibration Analysis of a Partially Covered Double Sandwich Cantilever Beam With Concentrated Mass at the Free End

1993 ◽  
Author(s):  
C. Levy ◽  
Q. Chen
Keyword(s):  
Loss Factor ◽  
Equations Of Motion ◽  
Beam Theory ◽  
Physical Parameters ◽  
Mass Ratio ◽  
Euler Beam ◽  
Concentrated Mass ◽  
Sandwich Type ◽  
Euler Beam Theory ◽  
Two Parameters

Abstract The partially covered, sandwich-type cantilever with concentrated mass at the free end is studied. The equations of motion for the system modeled via Euler beam theory are derived and the resonant frequency and loss factor of the system are analyzed. The variations of resonance frequency and system loss factor for different geometrical and physical parameters are also discussed. Variation of these two parameters are found to strongly depend on the geometrical and physical properties of the constraining layers and the mass ratio.

A Probabilistic Tolerance Allocation Method for Dynamic Mechanical Systems With Periodic Response and Discontinuous Forcing Functions

1995 ◽  
Author(s):  
F. Zhang ◽  
B. J. Gilmore ◽  
A. Sinha
Keyword(s):  
Combustion Engine ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Optimization Procedure ◽  
Tolerance Allocation ◽  
Radial Clearance ◽  
Time Varying ◽  
Link Length ◽  
Design Variables ◽  
Forcing Functions

Abstract Tolerance allocation standards do not exist for mechanical systems whose response are time varying and are subjected to discontinuous forcing functions. Previous approaches based on optimization and numerical integration of the dynamic equations of motion encounter difficulty with determining sensitivities around the force discontinuity. The Alternating Frequency/Time approach is applied here to capture the effect of the discontinuity. The effective link length model is used to model the system and to account for the uncertainties in the link length, radial clearance and pin location. Since the effective link length model is applied, the equations of motion for the nominal system can be applied for the entire analysis. Optimization procedure is applied to the problem where the objective is to minimize the manufacturing costs and satisfy the constraints imposed on mechanical errors and design variables. Examples of tolerance allocation are presented for a single cylinder internal combustion engine.

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