Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

Abstract

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

Increasing the Efficiency of Mobile Robot Navigation Using Slam with Several Advanced Algorithms and Filters

“…The EKF corrects the sensor measurements to better calculate the position of the robot while it is moving. Furthermore, EKF is an algorithm that enables many parameters of the robotic motion i.e., the state variables model to make fine adjustments to the actual sensing measurements, to sense the amount of noise and as a result, to obtain information about the robot motion [17,18]. The robot movements of the mobile robot in Fig.…”

Offline Trajectory Generation for Bipedal Robot Using Linear Inverted Pendulum Model

“…As the humanoid robot moves, accurate informa-tion about the contact forces is crucial for maintaining stability. The contact model takes into account the virtual contact points to determine the position of the actual Center of Pressure (COP), called Zero Moment Point (ZMP), which validates the stability of the bipedal robot [3,9] . This information helps in ensuring that the bipedal robot maintains its stability during locomotion [10] .…”

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

“…Due to its complex dynamics, the double inverted pendulum is a type of nonlinear system with numerous degrees of freedom. To move the pendulum from an unstable position to a stable one and increase the system's stability, a PID-LQR controller combination is suggested [1], [11]. The equations of motion of the double inverted pendulum system are derived and a dynamic model of the system is established [2].…”