Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method

Abstract

A bipedal robot should be robust and able to move in various directions on stairs. However, up to date many research studies have been focusing on walking in the up or down direction only. Therefore, a strategy to realize walking along a step is investigated. In conventional methods, CoM is moved up or down during walking in this situation. In this paper, a method named as Dual Length Linear Inverted Pendulum Method (DLLIPM) with Newton-Raphson is proposed for 3-D biped robot walking. The proposed method applies different length of pendulum at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced. From the Ground Reaction Forces (GRF) data obtained in the simulations, the validity of the proposed method is confirmed.

Dynamics of theN-link pendulum: a fractional perspective

“…Known for their rich dynamics, pendular systems (PS) have been widely used for modelling and as benchmark systems in many areas, namely long-chain molecular physics (Mezić, 2006;Vesely, 2013), control theory (Boubaker, 2013;Kurdekar & Borkar, 2013;Larcombe, 1992), robotics (Ali, Motoi, Heerden, & Kawamura, 2013;Brisilla & Sankaranarayanan, 2015), biomechanics (Barin, 1992;Schiehlen, 2014), building structures (Housner, 1963;Zayas, Low, & Mahin, 1990), chaos and nonlinear dynamics (Gmiterko & Grossman, 2010;Hedrih, 2008;Lobas, 2005;Yu & Bi, 1998), among others (Baker & Blackburn, 2005;Jadlovská, Sarnovskỳ, Vojtek, & Vošček, 2015).…”

Semi-active stable landing control for biped robot by using switching control

“…Some control method has been developed to improve the motion stability of biped robot [6][7][8][9][10]. Van Heerden proposed a joint torque limits such that ground reaction force is limited [6,7].…”

“…Some control method has been developed to improve the motion stability of biped robot [6][7][8][9][10]. Van Heerden proposed a joint torque limits such that ground reaction force is limited [6,7]. And Sasahara proposed a switching control method including position controller and force controller for the stable lading [8,9].…”

“…The proposed model for the MR damper could cover the shortage of the traditional Bingham model. The improved Bingham model is as shown in(6).…”