Balance Analysis of the Mobile Anthropomimetic Robot Under Disturbances – ZMP Approach

Abstract

Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi-anthropomimetic robot. The robot structure consists of a human-like upper body mounted on a mobile platform (mobile base, cart). The robot uses the three-wheeled mobile platform with two driving wheels and one passive (caster) wheel. The configuration and model of the upper body are represented as an anthropomimetic, compliant robot with antagonistically coupled drives. Robust control is evaluated in order to ensure stability of the robot position. The aim of this work is not the synthesis of control, but rather the examination of the limits of the adopted robot control strategy and the robot behaviour under disturbances (analysis of tip-over stability). The paper analyses both disturbances from the cart motion and external disturbances due to interaction with the environment (external impulse and long term external force). In order to analyse the balance of the robot and to avoid tipping over, different situations are tested and the appropriate dimensions of the cart are estimated (relying on the ZMP calculation).

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

“…Zero Moment Point (ZMP)-based stability criteria mainly utilize the relationship between ZMP [10] and support polygon to evaluate the stability. This type of stability measure methods, as demonstrated by the ZMP method [11–12], Fictitious Zero-Moment Point (FZMP) and Centre of Pressure (COP) [13, 15] method, are widely used in humanoid robots and even terrain. Furthermore, they are beneficial to motion planning.…”

Dynamic Modeling and Simulation of Mobile Robot Under Disturbances and Obstacles in an Environment

“…The "classical" dynamic model that considers the joint torques as the controls and relates them to joint motions. The concept of the "flier" approach, is derived for humanoid robots [14,16]. Unlike full humanoid robots, the mobile robot is a humanoid robot only a part of the upper body.…”

“…Dynamical modeling of the mobile robot is a partial implementation of the classical "flier approach" in humanoid robotics [14], and presents a unique challenge due to its upper-body configuration. In the past few years, a new expression has been established-anthropometric [15,16]. Additionally, one of the famous methods of dynamical modeling in obstacle avoidance algorithms for mobile robots, using the "Potential Fields Method" [17].…”

Methods for Detection and Prevention of Vulnerabilities in the IoT (Internet of Things) Systems

“…However, advancements in robotics, such as the integration of anthropometric robots, offer potential solutions to enhance IoT security. For example, the use of mobile anthropometric robots with their ability to interact with the IoT infrastructure can improve security measures by enabling monitoring, threat detection, and response capabilities in IoT environments [8].…”