CPG BASED RL ALGORITHM LEARNS TO CONTROL OF A HUMANOID ROBOT LEG

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

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The poppy humanoid robot: Leg design for biped locomotion

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2013.6696375 ◽

2013 ◽

Cited By ~ 19

Author(s):

Matthieu Lapeyre ◽

Pierre Rouanet ◽

Pierre-Yves Oudeyer

Keyword(s):

Humanoid Robot ◽

Biped Locomotion ◽

Robot Leg ◽

Leg Design

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Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg

Advances in Applied Clifford Algebras ◽

10.1007/s00006-016-0705-7 ◽

2016 ◽

Vol 27 (1) ◽

pp. 581-597 ◽

Cited By ~ 3

Author(s):

L. Campos-Macías ◽

O. Carbajal-Espinosa ◽

A. Loukianov ◽

E. Bayro-Corrochano

Keyword(s):

Inverse Kinematics ◽

Humanoid Robot ◽

Robot Leg

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HUMANOID ROBOT LEG DESIGN

10.26678/abcm.cobem2019.cob2019-1595 ◽

2019 ◽

Author(s):

Thiago Tonaco ◽

Daniela Vacarini de Faria ◽

Caroline Silva ◽

Marcos Maximo ◽

Mariano Arbelo

Keyword(s):

Humanoid Robot ◽

Robot Leg ◽

Leg Design

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Measurement of Backlash and Fatigue Wear of PEEK Bush in Robot Joint under Middle Load

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.418.38 ◽

2013 ◽

Vol 418 ◽

pp. 38-43

Author(s):

Hitonobu Koike ◽

Kiyoto Itakura ◽

Shota Okazaki ◽

Masahiro Takamiya ◽

Kenji Kanemasu ◽

...

Keyword(s):

Evaluation System ◽

Humanoid Robot ◽

Transmission Error ◽

Fatigue Wear ◽

Ether Ether Ketone ◽

Poly Ether Ether Ketone ◽

Ether Ketone ◽

Robot Leg ◽

Wear Tests ◽

Joint Evaluation

In order to establish the application possibilities in transmission parts in humanoid robot joints, wear of reinforced poly-ether-ether-ketone (PEEK) polymer bushes in friction against 7075 aluminium alloy cam plates is investigated. Additionally the transmission error (backlash) in robot joint was measured. The PEEK bush wear requires close examination as well as the input axis-output axis transmission error. Fatigue wear tests were performed on bushes under middle load at 3000 rpm motor speeds, while the cam plate oscillated in the humanoid robot leg joint evaluation system under 1300 kgfcm (132 Nm) load torque. The robot joint using PEEK bush achieved stable small backlash due to good friction perforance.

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