Bipedal Walking Robot-A Developmental Design

Warnakulasooriya, Sujan Mario; Bagheri, Amin; Sherburn, Nathan; Shanmugavel, Madhavan

doi:10.1016/j.proeng.2012.07.277

Cited by 6 publications

(5 citation statements)

References 4 publications

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“…Vol.25, No.2, December 2020, pp. 176-188 brackets which represent the structure of the humanoid [4]. In-Seok Kim et al proposed a stabilization method for dynamic walking of a humanoid with real-time optimization of capture point (CP) trajectories [5].…”

Section: Al-rafidain Engineering Journal (Arej)mentioning

confidence: 99%

“…Where the foot trajectory begins from the height of the foot (1.2cm) as a cubic polynomial equation with step period 1.35s. Table (4) shows some parameters that used to confirm the foot trajectory for 17 (DoFs) bipedal robots. Figure (20) gives an overview of the motion of the servomotors for a bipedal robot to confirm the step by the right leg.…”

Section: Fig 18 Cubic Polynomial Foot Trajectory Of 10mentioning

confidence: 99%

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Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot

AbulKareem¹,

Ali²

2020

(AREJ)

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Another type of legged robots is a bipedal walking robot or humanoid robot, which can be designed to implement various functions as necessary and mimic like a human. Often, balance while moving and when the first leg in the swing process and the second leg on the ground is difficult than most other kinds of robots. Two bipedal robot prototypes are designed with 10 degrees of freedom and 17 degrees of freedom to fulfill a gait cycle. The robot's locomotion can also be controlled via two types of microcontrollers, Arduino microcontroller and LOBOT LSC-32 driver. So, the KHR-2HV simulation model by Webots is used to simulate the experimental results of the bipedal robots. The results showed that the cubic polynomial foot trajectory for 10 degrees of freedom and 17 degrees of freedom bipedal robots are (= 4 × 10 −16 3 − 0.0433 2 + 0.4329 + 0.7619 with regression 0.9276) and (= −0.000074 3 − 0.13 2 + 0.671 + 1.1326 with regression 0.939) respectively. After several methods for programming, the bipedal robot by LOBOT LSC-32 driver model is the better than Arduino with PCA 96685 driver-16 channel servo driver. Experimental results carried out during the KHR-2HV simulation model by Webots program. This model gives a better estimation and a fast response to confirm the stability of the10 degrees of freedom and 17 degrees of freedom bipedal robots.

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Section: Al-rafidain Engineering Journal (Arej)mentioning

confidence: 99%

Section: Fig 18 Cubic Polynomial Foot Trajectory Of 10mentioning

confidence: 99%

Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot

AbulKareem¹,

Ali²

2020

(AREJ)

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“…Most of the researchers studied the problem of the stability of the humanoid. The humanoid is normally unstable, a considerable deal of overwork requires to spend on including that the control system backward the brains of the locomotion are robust and efficient [1]. When the humanoid's center of mass CoM is at all times inside the region between the feet on the ground that called static balance.…”

Section: Introductionmentioning

confidence: 99%

Robust Stability Control of Inverted Pendulum Model for Bipedal Walking Robot

Kareem

Ali

2020

NJES

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This paper proposes robust control for three models of the linear inverted pendulum (one mass linear inverted pendulum model, two masses linear inverted pendulum model and three masses linear inverted pendulum model) which represents the upper, middle and lower body of a bipedal walking robot. The bipedal walking robot is built of light-weight and hard Aluminum sheets with 2 mm thickness. The minimum phase system and non-minimum phase system are studied and investigated for inverted pendulum models. The bipedal walking robot is programmed by Arduino microcontroller UNO. A MATLAB Simulink system is built to embrace the theoretical work. The results showed that one linear inverted pendulum is the worst performance, worst noise rejection and the worst set point tracking to the zero moment point. But two masses linear inverted pendulum models and three masses linear inverted pendulum model have a better performance, a better high-frequency noise rejection characteristic and better set-point tracking to the zero moment point.

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“…Because of the lack of a unified methodology and software for engineering lever-hinge systems for anthropomorphic robots, developers are forced to create their own software in the design process of each individual robot [2]- [4].…”

Section: Introductionmentioning

confidence: 99%

“…One of the simplest structures of the biped robot is described in [4]. It is made up of two-millimeter aluminum sheet, includes six servos operated by EyeBot controller, and weighs 1.11 kg.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Engineering of Leg Joints of Anthropomorphic Robot

et al. 2016

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Abstract. The problem of design engineering of anthropomorphic robot legs is considered. An overview of the existing anthropomorphic robots and an analysis of servomechanisms and bearing parts involved in the assembly of robot legs are presented. We propose an option for constructing the legs of the robot Antares under development. A two-motor layout, used in the knee, ensures higher joint power along with independent interaction with the neighboring upper and lower leg joints when bending. To reduce the electrical load on the main battery of the robot, the upper legs are provided with a mounting pad for additional batteries powering servos. Direct control of the servos is also carried out through the sub-controllers, responsible for all 6 engines installed in the articular joints of the robot legs.

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Bipedal Walking Robot-A Developmental Design

Cited by 6 publications

References 4 publications

Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot

Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot

Robust Stability Control of Inverted Pendulum Model for Bipedal Walking Robot

Mechanical Engineering of Leg Joints of Anthropomorphic Robot

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