Development of Minimalist Bipedal Walking Robot with Flexible Ankle and Split-mass Balancing Systems

This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allow...

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Bibliographic Details
Published inInternational journal of automation and computing Vol. 10; no. 5; pp. 425 - 437
Main Authors Jo, Hudyjaya Siswoyo, Mir-Nasiri, Nazim
Format Journal Article
LanguageEnglish
Published London Springer-Verlag 01.10.2013
Springer Nature B.V
Subjects
Algorithms
Ankle
Automation
Balancing
CAE) and Design
Computer Applications
Computer simulation
Computer-Aided Engineering (CAD
Control
Controllers
Decoupling
Design
Design engineering
Engineering
Feet
Gravity
Joints (anatomy)
Locomotion
Mass balance
Mathematical models
Mechatronics
Motion control
Posture
Robot dynamics
Robotics
Robots
Strategy
Trajectory planning
Walking
分割
双足步行机器人
发育
平衡控制器
平衡系统
柔性
质量
踝关节
robot dynamics
bipedal walking
legged locomotion
Bipedal robot
stability control
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Summary:This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.
Bibliography:This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.
11-5350/TP
Bipedal robot bipedal walking stability control robot dynamics legged locomotion
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1476-8186
2153-182X
1751-8520
2153-1838
DOI:10.1007/s11633-013-0739-4