Dynamic modelling and walk simulation for a new four-degree-of-freedom parallelogram bipedal robot with sideways stability control

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Title: Dynamic modelling and walk simulation for a new four-degree-of-freedom parallelogram bipedal robot with sideways stability control
Author(s): Siswoyo Jo, Hudyjaya; Mir-Nasiri, Nazim
Abstract: The paper presents a simplified mathematical model of a two-leg walking robot with four degrees of freedom. It presents a novel method of sensing and balancing for the bipedal robot with the minimum possible number of degrees of freedom for the walk. The proposed method involves the design of a semi-rigid ankle to facilitate fast and accurate measurements of the sideways (sagittal) instability of the walking robot. The use of a new hip-mass carrying strategy in the forward direction and a system of two counter-masses for the sideways body balancing enables us to decouple the forward walking algorithms from the robot stability issues. The system of two different masses helps to improve the response time and efficiency of the balancing system. The control algorithms developed provide continuous stability of the robot while it walks in a forward direction by actuating its four DC motors. Smooth leg trajectory planning is implemented to minimize the foot-ground impact and jerky motions at the joints. The efficiency of the proposed control algorithms is tested and verified by using MATLAB Simulink computer tools.
Publication type: Journal article
Research centre: Swinburne University of Technology. Sarawak Campus. School of Engineering, Computing and Science
Source: Mathematical and Computer Modelling, Vol. 57, no. 1-2 (Jan 2013), pp. 254-269
Publication year: 2013
FOR Code(s): 0102 Applied Mathematics; 0103 Numerical and Computational Mathematics; 0802 Computation Theory and Mathematics
Keyword(s): Minimalist bipedal robot; Semi-rigid ankle; Sideways balancing
Publisher: Elsevier
ISSN: 0895-7177
Publisher URL: http://dx.doi.org/10.1016/j.mcm.2011.06.046
Peer reviewed