Top

Published in:

2019 | OriginalPaper | Chapter

Effect of Upper Body Motion on Biped Robot Stability

Authors : Ruchi Panwar, N. Sukavanam

Published in: Decision Science in Action

Publisher: Springer Singapore

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

Achieving stability of biped robot during walking is a tough task. In this paper, we generate polynomial cubic spline for ankle joints, hip joints, and upper body so that the resulting walk is stable. Stability is assured by calculating zero momentum point with largest stability margin in Matlabs.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Seismic Analysis of Multistoried Building with Optimized Damper Properties

next chapter Ant Colony Algorithm for Routing Alternate Fuel Vehicles in Multi-depot Vehicle Routing Problem

Vukobratovic, M., Frank, A.A., Juricic, D.: On the stability of biped locomotion. Biomed. Eng. IEEE Trans. 1, 25–36 (1970)CrossRef

McGeer, T.: Passive walking with knees. In: Proceedings of the IEEE-ICRA, pp. 1640–1645 (1990)

Narvez-Aroche, O., Rocha-Cozatl, E., Cuenca-Jimenez, F.: Kinematic analysis and computation of ZMP for a 12-internal-dof biped robot. 13th World Congress in Mechanism and Machine Science, pp. 19–25. Guanajuato, Mexico (2011)

Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N., Tanie, K.: Planning walking patterns for a biped robot. IEEE Trans. Rob. Autom. 17(3), 280–289 (2001)CrossRef

Erbatur, K., Kurt, O.: Humanoid walking robot control with natural ZMP references. In: Proceedings of the IECON, France (2006)

Xiaoguang, Z., Ruyi, H.: Research on humanoid robot slope gait planning. Open Autom. Control Syst. J. 7, 1002–1009 (2015)

Cuevas, E., Zaldivar, D., Perez-Cisneros, M., Ramirez-Ortegon, M.: Polynomial trajectory algorithm for a biped robot. Int. J. Rob. Autom. 25(4), 294–303 (2010)

Srinivasan, A., Nigam, M.J.: Neuro-fuzzy based approach for inverse kinematics solution of industrial robot manipulators. Int. J. Comput. Commun. Control 3, 224–234 (2008)CrossRef

Duka, A.V.: Neural network based inverse kinematics solution for trajectory tracking of a robotic arm. Procedia Techn. 12, 20–27 (2014)CrossRef

10.

Liu, J., Urbann, O.: Bipedal walking with dynamic balance that involves three-dimensional upper body motion. Rob. Auton. Syst. 77, 39–54 (2016)

11.

Xu, W., et al.: An improved ZMP trajectory design for the biped robot BHR. Proceedings of the IEEE-ICRA, Shanghai, China, pp. 569 (2011)

Title: Effect of Upper Body Motion on Biped Robot Stability
Authors: Ruchi Panwar
N. Sukavanam
Publisher: Springer Singapore
Book: Decision Science in Action
Print ISBN: 978-981-13-0859-8

Electronic ISBN: 978-981-13-0860-4

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-981-13-0860-4_18