Center of Mass based Walking Pattern Generator with Gravity Compensation for Walking Control on Bioloid Humanoid Robot

Riyanto, Riyanto; Adiprawita, Widyawardana; Hindersah, Hilwadi; Machbub, Carmadi

doi:10.1109/icarcv.2018.8580633

Cited by 4 publications

(8 citation statements)

References 7 publications

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“…The walking pattern generator that is used in this paper adapts the walking pattern generator built by [1], which produces data-driven on sticky 5 link robot models as in Figure 2, in the form of Dynamixel 7 to 18 (12 DoF) values on the Ardubio-Walker along with speed based on hip movements obtained from linear inverted pendulum movement patterns, and swing foot movements obtained from the cycloid motion. Relative angles R of the robot link is obtained with the inverse kinematics, i.e.…”

Section: Walking Pattern Generationmentioning

confidence: 99%

“…(3) The speed of each joint is calculated from the position of each joint concerning the previous join position in every sampling time ts. The detail of the conversion function can be seen in [1].…”

Section: Walking Pattern Generationmentioning

confidence: 99%

“…Adaptation to various floor slopes is one of the capabilities that must be possessed by a biped robot to keep the robot able to walk without falling. Many methods are carried out by researchers to make the robot able to adapt to the slope of the floor, including what is done by authors at [1] by reading the slope of the floor before starting the robot walking motion then use the floor slope reading as a reference to compensate the gravity for the Bioloid Premium robot, or using the error data from the gyroscope reading which is used as input control with the PD method for strategy ankle on a Bioloid GP robot as done by Martin et al [10].…”

Section: Introductionmentioning

confidence: 99%

“…3.6 In this paper, the authors propose a strategy to deal with the slope of the floor using the strategy of hip, ankle, and time delay. This strategy is applied to the walking motion generator developed previously by authors in [1], using the results of the floor slope detection to determine the size of the hip, ankle, and time delay strategies that will be applied to biped robot.…”

Section: Introductionmentioning

confidence: 99%

“…The robot structure used in the experiment will be described in Chapter 2 of this paper. In Chapter 3, briefly explained the walking motion generator adopted from [1] and important poses that are used as key poses for the application of the strategies to be applied. This chapter also describes the development of gravity compensation for improving gait for the biped robot.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Slope Balancing Strategy for Bipedal Robot Walking Based on Inclination Estimation Using Sensors Fusion

Riyanto¹,

Machbub²,

Hindersah³

et al. 2019

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The ability of a biped robot to run on various types of floors and slopes can be an additional guarantee that the robot is capable of performing various tasks as can be done by humans. This paper is the result of a study on a bipedal robot that only consists of a body and two legs with two feet to use the ankle-hip and time delay strategy to anticipate the effects of the slope of the floor during walking. The result of the research is the robot could adapt the change of slope up to 12 degrees while walking with so that it can keep the balance and does not fall. The hip and ankle strategies are applied together on the inclined floor by dividing the slope impact on the hip and ankle joint to a certain ratio, while the time delay strategy is done when the robot walks on a sloping surface to increase the binding power of the foot to the floor.

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Section: Walking Pattern Generationmentioning

confidence: 99%

Section: Walking Pattern Generationmentioning

confidence: 99%