Basic walking trajectory analysis in FLoW ROBOT

Pristovani, R. Dimas; Rindo, W. M.; Henfri, B. Eko; Subhan, K H Achmad; Pramadihanto, Dadet

doi:10.1109/elecsym.2016.7861026

Cited by 15 publications

(3 citation statements)

References 3 publications

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“…The legged robot's kinematic or structure design influenced the movement heavily [7,8]. Following the robot's kinematics, the specific robot's walking trajectory may be developed [9,10]. Production of robot leg moving patterns uses the kinematic inverse approach from the desired coordinate points [11].…”

Section: Introductionmentioning

confidence: 99%

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Alfathdyanto,

Darmawan,

Alasiry

et al. 2023

ELKHA

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Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second.

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Section: Introductionmentioning

confidence: 99%

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Alfathdyanto,

Darmawan,

Alasiry

et al. 2023

ELKHA

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show abstract

“…ZMP was first used in static balance control [29]. For biped robots, static and quasi-static posture balance can be achieved because the sole has a supporting area [30]. For quadruped robots, at least three legs are required to maintain static balance due to the point contact [31].…”

Section: Introductionmentioning

confidence: 99%

Balance control based on six-dimensional spatial mechanics and velocity adjustment through region intervention and foot landing for quadruped robot

Luo

2022

Robotica

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Currently, the body balance control algorithm of a quadruped robot executing trot gait motion is more complex and computationally intensive, which is not conducive to improving the real-time control performance of the robot. This paper proposes a six-dimensional spatial mechanics decoupling algorithm to enhance the balance control accuracy during trot gait while optimizing the computational effort. A 6 × 6 matrix is established to describe the relationship between six ground reaction forces of the diagonal supporting leg and six spatial forces and torques controlling robot degrees of freedom, which is optimized to reach the full rank. Decoupling calculation is adopted to obtain required ground reaction forces by matrix inverse operation, and forces are converted to joint motor torques utilizing the Jacobian matrix. The trajectory of the swing leg foot is generated based on cubic interpolation, and the robot motion speed is adjusted by selecting the landing point. This paper also proposes a region intervention control method based on center of mass projection to regulate the moving speed while ensuring the balance of the robot. Finally, the algorithm is verified by simulation using open source software Webots. The results show that when the robot moves at an average speed of 0.5 m/s, the lateral displacement change of the robot is less than 0.009 m, the height change is less than 0.003 m, and the rotating angles around the x, y, and z axes are less than 0.0036 rad, 0.0013 rad, and 0.001 rad, respectively.

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“…This behavior is sense the active body force trough the soles of their feet. In humanoid robot, the behavior to sense the active body force trough the soles of the feet are same as with directly measuring the position vector of Zero Moment Point (ZMP) based on Center of Pressure (CoP) [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Implementation and design of new low-cost foot pressure sensor module using piezoelectric sensor in T-FLoW humanoid robot

Pristovani¹,

Sanggar²,

Pramadihanto³

2019

IJECE

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Basically, human can sense the active body force trough the soles of their feet and can feel the position vector of zero moment point (ZMP) based on the center of pressure (CoP) from active body force. This behavior is adapted by T-FLoW humanoid robot using unique sensor which is piezoelectric sensor. Piezoelectric sensor has a characteristic which is non-continuous reading (record a data only a moment). Because of it, this sensor cannot be used to stream data such as flex sensor, loadcell sensor, and torque sensor like previous research. Therefore, the piezoelectric sensor still can be used to measure the position vector of ZMP. The idea is using this sensor in a special condition which is during landing condition. By utilizing 6 unit of piezoelectric sensor with a certain placement, the position vector of ZMP (X-Y-axis) and pressure value in Z-axis from action body force can be found. The force resultant method is used to find the position vector of ZMP from each piezoelectric sensor. Based on those final conclusions in each experiment, the implementation of foot pressure sensor modul using piezoelectric sensor has a good result (94%) as shown in final conclusions in each experiment. The advantages of this new foot pressure sensor modul is low-cost design and similar result with another sensor. The disadvantages of this sensor are because of the main characteristic of piezoelectric sensor (non-continuous read) sometimes the calculation has outlayer data.

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Basic walking trajectory analysis in FLoW ROBOT

Cited by 15 publications

References 3 publications

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Balance control based on six-dimensional spatial mechanics and velocity adjustment through region intervention and foot landing for quadruped robot

Implementation and design of new low-cost foot pressure sensor module using piezoelectric sensor in T-FLoW humanoid robot

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