Design and walking pattern generation of a biped robot

OLCAY T., ÖZKURT A.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, cilt.25, sa.2, ss.761-769, 2017 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 25 Sayı: 2
  • Basım Tarihi: 2017
  • Doi Numarası: 10.3906/elk-1409-19
  • Dergi Adı: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, TR DİZİN (ULAKBİM)
  • Sayfa Sayıları: ss.761-769
  • Anahtar Kelimeler: Walking trajectory generation, zero moment point, inverted pendulum, biped robot, HUMANOID ROBOT
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

This paper presents the design of a biped robot, the walking trajectory generation method, and experimental results a bout biped walking. Walking trajectory generation is one of the deterministic factors in walking robot applications. Different approaches for stable walking trajectory are worked on in robotic research. The linear inverted pendulum model (LIPM) is an effective method used with the zero moment point (ZMP) criteria. Biped robot trunk and feet moving patterns are generated depending on these fundamental methods. In this study, generated trajectories were tested by a 12 degree off reedom (DOF) biped robot RUBI built at Dokuz Eylul University. In the experimental work, the joint angles obtained by using inverse kinematics from the generated trajectories were implemented on the robot. The results showed that even with a simple control system implementation of generated trajectories is very promising in terms of stability and reducing complexity.