Abstract
Humanoid biped robots are typically complex in design, having numerous Degrees-of-Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by dividing the walking gait into the Sagittal and Frontal planes. This paper explains the mathematical model of the dynamics equations for the legs into the Sagittal and Frontal planes by further applying the principle of Lagrangian dynamics. Finally, a control approach using a PD control law with gravity compensation was recurred in order to control the desired trajectories and finding the required torque by the joints. The paper contains several simulations and numerical examples to prove the analytical results, using SimMechanics of MATLAB toolbox and SolidWorks to verify the analytical results.
Highlights
In recent years, several efforts of the robotics community have focused on developing bio‐inspired robots, in humanoid biped robots
This is due to the fact that the walking patterns of many biped robots are calculated by solving six dimensional inverse kinematics based on the position and orientation of the foot and the waist, meaning that the seven DOF leg would provide the necessary redundancy to avoid the singularity problem presented in humanoids
This paper presented a new architecture for a biped robot with seven DOF per each leg and an additional DOF that imitates the toe joint
Summary
Several efforts of the robotics community have focused on developing bio‐inspired robots, in humanoid biped robots. Sellaouti et al [15] focused on walking speed augmentation in a 6 DOF leg through the use of passive toe joints during the single support phase, achieving a 1.5 times faster gait motion. The authors believe that with this new architecture, the humanoid robot will be able to walk with the knee stretched This is due to the fact that the walking patterns of many biped robots are calculated by solving six dimensional inverse kinematics based on the position and orientation of the foot and the waist, meaning that the seven DOF leg would provide the necessary redundancy to avoid the singularity problem presented in humanoids.
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