Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

Open access

Abstract

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

[1] Sh. Kajita, et al. Humanoid Walking Pattern Generation by using Preview Control of Zero-Moment Point. Proceedings IEEE Conference on Robotics & Automation Taipei, Taiwan, 2003, 14 - 19/09, 1620 - 1626.

[2] Xh. Bajrami. Dynamic modeling and simulation of a humanoid robot. PhD thesis.Vienna University of Technology, Austria 2013

[3] X. Bajrami, P. Kopacek, A. Shala, R. Likaj. Modeling and control of a humanoid robot. e & i Elektrotechnik und Informationstechnik 2013 (130), No. 2, 61 - 66.

[4] P. Kopacek. Cost oriented humanoid robot. In Proceedings of the 18th IFAC world congress, Milano, Italy, 28 August - 2 September 2011, 2011

[5] G. Capi et al. Real time gait generation for autonomous humanoid robots: A case study for walking, Robotics and Autonomous Systems 2003 (42), 107 - 116.

[6] M. Omer, G. Reza, L. Hun-ok, T. Atsuo. SemiPassive Dynamic Walking for Biped Walking Robot Using Controllable Joint Stiffness Based on Dynamic Simulation. Japan: 2009 IEEE/ASME, July 14 - 17, 2009.

[7] X. Bajrami, et al. Trajectory Planning and Inverse Kinematics Solver for Real Biped Robot with 10 DOF-s., IFAC-PapersOnLine 49.29 2016, 88 - 93.

[8] Xh. Bajrami, et al. Kinematics and dynamics modelling of the biped robot. IFAC Proceedings Volumes 46.8 2013, 69 - 73.

[9] S. H. Hyon, D. Suewaka, Y. Torii, N. Oku. Design and Experimental Evaluation of a Fast Torque-Controlled Hydraulic Humanoid Robot. in IEEE/ASME Transactions on Mechatronics 2017 (22), No. 2, 623 - 634.

[10] P. Shahverdi, M. T. Masouleh. A simple and fast geometric kinematic solution for imitation of human arms by a NAO humanoid robot. 2016 4th International Conference on Robotics and Mechatronics (ICROM), Tehran 2016, 572 - 577.

[11] C. Goldbeck, L. Kaul, N. Vahrenkamp, F. Worgotter, T. Asfour, J. M. Braun. Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, 966 - 972.

[12] X. Mu., Q. Wu. Synthesis of a complete sagittal gait cycle for a five-link biped robot. Robotica 2004 (21), 581 - 587.

[13] A. Byagowi, A Control System for a Humanoid Robot. PhD. Thesis Vienna University of Technlogy 2010.

[14] X. Bajrami et al. Genetic and Fuzzy logic algorithms for robot path finding. 5th Mediterranean Conference on Embedded Computing (MECO) 2016, 195 - 199.

[15] Goldbeck, C., Kaul, L., Vahrenkamp, N., Worgotter, F., Asfour, T., & Braun, J. M. (2016, November). Two ways of walking: Contrasting a reflexive neuro-controller and a LIPbased ZMP-controller on the humanoid robot ARMAR-4. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on (pp. 966 - 972). IEEE

[16] I. Virgala, T. Lipták, Ľ. Miková. Snake Robot Locomotion Patterns for Straight and Curved Pipe. Journal of Mechanical Engineering - Strojnícky časopis 2018 (68), No. 2, 91 - 104.

[17] M. Kelemen, A. Gmiterko, D. Hroncová. Simulation of Worm-Like Machine. Journal of Mechanical Engineering - Strojnícky časopis 2018 (68), No. 2, 25 - 34.

Journal Information

Metrics

All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 141 141 18
PDF Downloads 100 100 8