Abstract
The research works contained in this paper are focused on the generation of a stable walking pattern of a biped robot and the study of its dynamic equilibrium while controlling the two following criteria; the centre of gravity COG and the zero-moment point ZMP. The stability was controlled where the biped have to avoid collision with obstacle. The kinematic constraints were also taken into consideration during the walking of the biped robot. In fact, the generation of the walking patterns is composed of several stages. First, we used the Kajita method for the generation of the COG trajectory, based on the linear inverted pendulum LIPM during the simple support phase SSP and linear pendulum model LPM during double support phase DSP. After that, we used two 4thspline function to generate the swing foot trajectory during the SSP and we used exact formulate for the foot trajectory during DSP. Finally, Newton's algorithm was performed (at the level of the inverse geometric model), in order to calculate the different joints according to the desired trajectories of the hip and the feet. Ground reaction forces were also determined from the dynamic model to satisfy the kinematic constraints on both feet of the biped. The generation of walking is done for two different speeds. To study the biped balance, ZMP generation algorithm was performed during the different walking phases and the results obtained for the two cases were compared.
Highlights
Research in the field of humanoid robotics has generally focused on how to reproduce the stable human walking as faithfully as possible ([1], [2])
Walking a biped robot at a certain speed and under certain constraints while keeping the stability of the biped is a challenge for researchers
On the work of [3] a novel method of ZeroMoment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances(carried an additional weight while walking and it walked up a 10◦ slope and walked down a 3◦ slope).The effectiveness of the method is verified on a humanoid robot, MANUS-I
Summary
Research in the field of humanoid robotics has generally focused on how to reproduce the stable human walking as faithfully as possible ([1], [2]). Walking a biped robot at a certain speed and under certain constraints (roughness and inclination of the ground, carried additional weight, avoid collision with obstacle and performing some tasks) while keeping the stability of the biped is a challenge for researchers. On the work of [3] a novel method of ZeroMoment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances(carried an additional weight while walking and it walked up a 10◦ slope and walked down a 3◦ slope).The effectiveness of the method is verified on a humanoid robot, MANUS-I. On the work of [4], a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain was proposed. Other conditions have been added to guarantee the stability of the robot
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More From: International Journal of Advanced Computer Science and Applications
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