FLoW bipedal robot: Walking pattern generation

Khomariah, Nuril Esti; Pramadihanto, Dadet; Dewanto, Raden Sanggar

doi:10.1109/elecsym.2015.7380817

Cited by 7 publications

(5 citation statements)

References 11 publications

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“…Individual CoGs of the robot bodies are calculated with Equation (18). Before using Equation (18), Equation ( 17) must be used for calculating positions of the bodies with respect to the inertial coordinate system.…”

Section: Cog and Zmp Calculationsmentioning

confidence: 99%

See 1 more Smart Citation

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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The walking of humanoid robots is dependent on the precise tracking of their center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing their joints to achieve the correct trajectory. Errors occur because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm was developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of this algorithm was examined with a dynamic simulation and compared with a method given in the literature. The main highlight of this study, using the presented algorithm, is that the robot could walk even if the position of its center of gravity was lower than its hips, resulting in a tracking error that was smaller than that reported in the literature.

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Section: Cog and Zmp Calculationsmentioning

confidence: 99%

“…However, this does not guarantee the tracking of the CoG of the robot at the desired precision level. The CoG is in the middle of the connection points of the two legs of the robot or at a higher position [18][19][20][21][22][23][24][25]. The CoG is calculated before the robot starts its motion.…”

Section: Introductionmentioning

confidence: 99%

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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“…Taking into consideration equation (18), the force at the piston-carriage contact point and its resultant torque are function of b, which is a function of the piston tip radius r pt , as mentioned by equation (6). Therefore, the easiest solution to reduce the contact friction would be to only change the tip of the pistons, without modifying the micro-pump design parameters, such as piston length, rotor diameter, .. etc.…”

Section: Piston-carriage Contact Point Frictionmentioning

confidence: 99%

“…Electric actuators are usually easy to control, cheap solutions, and easier to maintain. Robots like HONDA ASIMO, 1 WABIAN, 2 NAO, 3 iCub, 4 TORO robot, 5 FLoW, 6 HRP series, 7,8 and REEM-B 9 are significant examples of implementing electric actuation technology in humanoids. On the other hand, there are several deficiencies in electric actuation, including the low power-to-weight ratio and using mechanical gearboxes.…”

Section: Introductionmentioning

confidence: 99%

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

Amrollah¹,

Abdellatif

Alfayad

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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For robotic applications, hydraulic actuation is still an open research issue. A hydraulic actuation solution based on integrated hydraulics is presented in the form of an integrated electro-hydraulic Actuator (IEHA). This actuator tackles some issues related to compactness and self-contained autonomous robotic systems. One of its primary uses is the actuation of the hydraulic humanoid robot HYDROïD. Primary experimental validation of the IEHA actuator has suffered from several low-performance issues. The main reason for such performance is due to that inner friction forces and leakage losses were not addressed or modeled yet. In this paper, a detailed dynamic model of the IEHA actuator is needed to identify the mechanical components that affect the volumetric and mechanical efficiencies of the actuator. The dynamic model focuses on the dynamics of essential parameters and components like the micro-pump pistons, their internal leakage, and friction during actuation. The design parameters of these mechanical parts are optimally calculated to produce a new enhanced dynamic model. The new IEHA model is verified through simulation to actuate the ankle pitch rotation of the robot. A genetic algorithm is used to optimize the geometrical and design parameters while enhancing the overall mechanical and volumetric efficiencies of the IEHA. The IEHA model was able to generate a locomotion gait cycle successfully for a walking speed of 1.17 m/s. Simulation results have shown that the design enhancements led to 95% and 97% volumetric and mechanical efficiencies respectively. Finally, the new enhanced IEHA prototype is tested experimentally. The output flow of the new prototype has improved by approximately 58%.

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“…However, this does not guarantee the tracking of the CoG of the robot at the desired precision level. The CoG is in the middle of the connection points of the two legs of the robot or at a higher position [18][19][20][21][22][23][24][25]. The position of the CoG is calculated before the robot starts its motion.…”

Section: Introductionmentioning

confidence: 99%

Precise Inverse Kinematic Calculation of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Preprint

View full text Add to dashboard Cite

Walking of humanoid robots is dependent on precise tracking of the center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing the robot joints to produce the correct trajectory. Errors are being occurred because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm has been developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of the algorithm was examined with a dynamic simulation and compared with the method given in the literature The main highlight of this study, using the presented algorithm, the robot can walk even if the position of its center of gravity is lower than its hips, resulting tracking error was smaller than reported in the literature.

show abstract

FLoW bipedal robot: Walking pattern generation

Cited by 7 publications

References 11 publications

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

Precise Inverse Kinematic Calculation of the Center of Gravity for Bipedal Walking Robots

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