Initial Study of bipedal robot locomotion approach on different gravity levels

Omer, Aiman; Hashimoto, Kenji; Lim, Hun-ok; Takanishi, Atsuo

doi:10.1109/sii.2011.6147551

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Study Of a Possible Approach For Biped Robot Walking Subj1

Direct Approach For Walking Motion Performance1

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2014

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“…We modeled the structure of our robot WABIAN-2R and the simulation environment of the moon [20]. We had conducted simulations of the robot walking in low gravity (Figure 31), and we had shown the data of motion on Sagittal plane in [19, 21]. In this paper we added more data related to the motion of Frontal plane.…”

Section: Study Of a Possible Approach For Biped Robot Walking Subjmentioning

confidence: 99%

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Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis

Omer

Hashimoto

Lim

et al. 2014

International Journal of Advanced Robotic Systems

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Humanoid robots are expected to play a major role in the future of space and planetary exploration. Humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. However, the challenge of developing such a robot is quite high due to many difficulties. One of the main difficulties is the difference in gravity. Most researchers in the field of bipedal locomotion have not paid much attention to the effect of gravity. Gravity is an important parameter in generating a bipedal locomotion trajectory. This research investigates the effect of gravity on bipedal walking motion. It focuses on low gravity, since most of the known planets and moons have lower gravity than earth. Further study is conducted on a full humanoid robot model walking subject to the moon's gravity, and an approach for dealing with moon gravity is proposed in this paper.

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Section: Study Of a Possible Approach For Biped Robot Walking Subjmentioning

confidence: 99%

“…In this paper we added more data related to the motion of Frontal plane. As we had done in [21], we tested the walking motion with different velocities using several values for the control cycle timing. The control cycle is set to 30, 60, 75, 90 and 120 ms.…”

Section: Direct Approach For Walking Motion Performancementioning

confidence: 99%