Gait generation via intrinsically stable MPC for a multi-mass humanoid model

We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with known pre-defined motion and the remaining, primary, masses. In the case of a single primary mass with constant height, it is possible to transform the original gait generation problem for the multi-mass system into a single LIP-like problem. We can then take full advantage of an intrinsically stable MPC framework to generate a gait that takes into account the swinging leg motion

A Preliminary Study on Kinematics Model of A Bipedal Robot

This paper presents a simulation of motion of a bipedal robot and a comparison between the result of simulation and the actual robot. The hip and the knee are modeled as one degree of freedom (DOF) hinge respectively. The traction or gait is modeled as nonlinear joint alternating between one DOF pin joint and losing contact modes during the motion of the robot. The motion is modeled as a plane motion and the equation of motion is developed using the Lagrangian method. Besides torque, the jerk and impacts during the motion are observed and analyzed in the simulation. A spread sheet analysis is also performed to confirm and verify the result of simulation. In the actual robot, a PID control system is used. Various values of PID gains are set for the experiments, and the resulting behavior of the robot is observed

DETERMINATION OF HUMAN GAIT PHASE BY ZERO‐MOMENT POINT

This paper discuss approach to gait phase determination via fuzzy inference. The stability criteria applied to biped robots, namely Zero Moment Point (ZMP) have been employed. Designed fuzzy inference system uses data about the ZMP position. Gait phase is the output of our fuzzy system. Simplified human body model is introduced for computation of ZMP. Both inter- and intra-subject phase identification are examined. The developed fuzzy-rules based system is exemplified to show capability of different subjects gait data generalization. Results of designed fuzzy IF-THEN rules based system show that the proposed method is suitable for this type of task. We designed system to identify gait phases, which could potentially help to assess the quality of walking. Although the method for studying ZMP in combination with fuzzy logic could contribute to the design of new prosthesis and the diagnosis of disorders, this issue has not been systematically studied in the past

Robotic Leg Design to Analysis the Human Leg Swing From Motion Capture

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence

Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence

Walking trajectory control for a biped robot

A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot “Dany walker” designed at the Freie Universität Berlin, finally a briefly mechanical description of the robot structure is presented