Swizzle Movement for Biped Walking Robot Having Passive Wheels

2008 ◽  
Vol 20 (3) ◽  
pp. 413-419 ◽  
Author(s):  
Kenji Hashimoto ◽  
◽  
Yusuke Sugahara ◽  
Hun-ok Lim ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Reaction Force ◽  
Internal Force ◽  
Walking Robots ◽  
Rough Terrain ◽  
Walking Robot ◽  
Biped Walking ◽  
Reference Position ◽  
Flat Surfaces ◽  
Biped Walking Robot

Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.

scholarly journals Strategies for Recovery and Maintain of A Biped Walking Robot Balance

2018 ◽  
Vol 7 (2.28) ◽  
pp. 123
Author(s):  
N Pop ◽  
L Vladareanu ◽  
H Wang ◽  
M Ungureanu ◽  
M Migdalovici ◽  
...  
Keyword(s):  
Sagittal Plane ◽  
Golden Section ◽  
Walking Robots ◽  
Walking Robot ◽  
Active Joint ◽  
External Disturbances ◽  
Biped Walking ◽  
Nao Robot ◽  
Biped Walking Robot

Recovering and maintaining the balance of the biped walking robots play an important role in their operation. In this article we will analyze some strategies for balancing in the sagittal plane, in the presence of external disturbances and changing the proportions between leg’s length and trunk’s length (golden section), and/or adding weights (boot type) between the ankle and the knee so that the center of gravity is as low as possible. For equilibrium recovery, we suggest that the biped walking model be equipped with actuator that provides a torque at the hip. or/and at the ankle. The strategy of balance has a goal to move the disturbed system to the desired equilibrium state. We chose to study, the model of a double linear pendulum inverted under-actuated, with one passive and one active joint. Each case study and usage of these strategies is validated by Webots and is applied for NAO robot. 

scholarly journals Landing Control of Foot with Springs for Walking Robots on Rough Terrain

10.5772/7238 ◽  
2009 ◽  
Vol 6 (3) ◽  
pp. 25 ◽  
Author(s):  
Moyuru Yamada ◽  
Shigenori Sano ◽  
Naoki Uchiyama
Keyword(s):  
Controller Design ◽  
Impact Force ◽  
Reaction Force ◽  
Walking Robots ◽  
Flat Surfaces ◽  
Uneven Terrain ◽  
Biped Walking Robot ◽  
Foot Position ◽  
The Impact ◽  
Landing Control

Landing control is one of the important issues for biped walking robot, because robots are expected to walk on not only known flat surfaces but also unknown and uneven terrain for working at various fields. This paper presents a new controller design for a robotic foot to land on unknown terrain. The robotic foot considered in this study equips springs to reduce the impact force at the foot landing. There are two objectives in the landing control; achieving the desired ground reaction force and positioning the foot on unknown terrain. To achieve these two objectives simultaneously by adjusting the foot position, we propose a PI force controller with a desired foot position, which guarantees the robust stability of control system with respect to terrain variance, and exact positioning of the foot to unknown terrain. Simulation results using the Open Dynamics Engine demonstrate the effectiveness of the proposed controller.

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.

3D Printed Biped Walking Robot

2015 ◽  
Vol 772 ◽  
pp. 477-481 ◽  
Author(s):  
Tadeusz Mikolajczyk ◽  
Alberto Borboni ◽  
Xian Wen Kong ◽  
Tomasz Malinowski ◽  
Adrian Olaru
Keyword(s):  
Control System ◽  
Degree Of Freedom ◽  
Prototype Model ◽  
Walking Robot ◽  
Biped Walking ◽  
Flat Surfaces ◽  
Simple Idea ◽  
Centre Of Gravity ◽  
3D Printed ◽  
Biped Walking Robot

The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.

Development of a biped walking robot actuated by a closed-chain mechanism

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 31-37 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Yong-Heon Park
Keyword(s):  
High Strength ◽  
Gear Ratio ◽  
Ball Screw ◽  
Walking Robot ◽  
Biped Walking ◽  
Link Mechanism ◽  
Closed Chain ◽  
Tracking Ability ◽  
New Type ◽  
Biped Walking Robot

We developed a new type of a human-sized BWR (biped walking robot) driven by the closed-chain type of a joint actuator. Each leg of the BWR is composed of three pitch joints and one roll joint. In all, a 12 degree-of-freedom robot, including four arm joints, was developed. The BWR was designed to walk autonomously; it is actuated by small 90W DC motors/drivers and is has DC batteries and controllers. A new type of the joint actuator for the BWR is composed of the four-bar-link mechanism driven by a ball screw which has high strength and high gear ratio despite its light weight.In this paper, analyses on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR are presented. Through walking experiments of the BWR, the superior trajectory-tracking ability of the proposed joint actuator is validated.

Sign in / Sign up

Export Citation Format

Share Document