Human balancing can be modeled for the sagittal and frontal planes using double inverted pendulum (DIP) biomechanics representations. The DIP approach has also been used in the DEC (disturbances estimation and compensation) model for balance control of a humanoid robot in the sagittal plane. In this paper, it is implemented on a 14 degrees of freedom humanoid for the frontal plane. Positive results open the possibility to use the DEC concept for a bio-inspired modular control architecture for both the sagittal and the frontal planes.
Path planning is an essential part of the control system of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Generation System is also presented. Described path planner utilizes a limited number of motions called the Motion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* likeheuristics were tested. For the last one the version with biased random function was also considered. All mentioned algorithms were evaluated considering three dif ferent scenarios. Obtained results are described and discussed.
The design concept of compliant actuator dedicated for humanoid robot is presented. Actuator consists of DC motor with serial and parallel springs. Evaluation of motor parameters and selection of springs' parameters was performed considering human motion data. Correctness of proposed design was justified by simulation. The following the reference trajectories for knee joint was investigated. Obtained results confirmed that the proposed concept of compliant actuator performs well with decreasing the motor power demand.
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