Planning Trajectory of Anthropomorphic Walking Robot (Biped Robot)
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Abstract
Humanoid robots have been a topic of great interest for a long time. Among the various motions of a humanoid robot, the most basic and important motion is bipedal walking. Bipedal walking is probably the most appropriate way for robots to move around in a real environment. However Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure.
To study the stable motion of any bipedal robot we should study the Kinematics, Dynamics, design a control system and of most important the trajectories. This work deals with planning trajectory of humanoid robots (AK Biped robot), especially for planning trajectory of center of mass (CoM), zero moment point (ZMP)a and planning trajectory of swing foot. diffident method used in planning trajectory like 3D linear inverted pendulum (LIMP), polynomial interpolation.
The object of study is the process of automatic control walking of an anthropomorphic walking robot (AK biped robot), for that this paper proposes an approach of joint trajectory generation for the biped robot using the three Three-dimensional linear inverted pendulum for planning trajectory of CoM which keep the ZMP to be inside the support polygon which and guarantee stable dynamic walking of AK biped robot, then trajectory of swing foot derived using the polynomial interpolation function for smooth motion.
The aim of this paper is to present a full 3D walking strategy using dynamic model of 3D inverted pendulum for generation references joint trajectories with simulation also design a control system that granites a stable walking of Biped Robot.
This is done by first reviewing the literature about different walking strategies. During this literature review the 3D-Linear Inverted Pendulum Model appeared to be the most interesting strategy for further research.
The idea of the strategy is simple. It models the human as a linear inverted pendulum with massless rods, which represent the legs, and a point mass at the end of the rods representing the total mass of the body. During walking, there is always at least one foot on the ground which can be seen as stance leg. This stance leg is then modeled as an inverted pendulum. The general closed form solution of the dynamics of the linear inverted pendulum are used to design a trajectory for the center of mass (CoM ) for stance leg.
In the trajectory generator, the general solution of the 3D-LIPM is used to prescribe a trajectory. for the CoM of the biped robot AK.
The trajectory of the swing leg is designed by a cosine velocity profile interpolation function.
The joint trajectories are used as the input for a dynamic model of biped robot in SimMechanics. The proposed control system in simulation are carried out to tune the trajectory such that the dynamic model is able to walk balanced and the robustness of the gait was verified by adding of disturbances. For example, the position of the CoM was increased or decreased and the steps were simulated with different ground levels. These simulations showed that the trajectory is relatively robust.
Ref. 10, fig. 4.
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