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Utku seven

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Ömer Kemal Adak

Sabanci University

Yildiz Technical University

University of Technology, Jamaica

Universitas Gadjah Mada

aliza che amran

Universiti Teknikal Malaysia Melaka

Hong Kong Polytechnic University

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Papers by Utku seven

Design and control of the humanoid robot SURALP

Turkish Journal of Electrical Engineering and Computer Sciences

SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sa... more SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University-Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and Zero Moment Point (ZMP) regulation, and independent joint position controllers are used in zeroing and walking. A smooth walking trajectory is employed. Experimental results indicate that the reference generation and control algorithms are successful in achieving a stable and continuous walk.

Zmp Based Reference Generation For Biped Walking Robots

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-lik... more Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs...

SURALP-L-Đnsansı Robot Platformu Bacak Modülü

Yay Sekilli Tek Ayak Destek SMN Yörüngeleri ile İnsansı Robot Yürüme Referansı Sentezi

Son kirk yildir, insansi robotlar arastirmacilarin ilgisini cekmektedir. Kararsiz dinamiginden ot... more Son kirk yildir, insansi robotlar arastirmacilarin ilgisini cekmektedir. Kararsiz dinamiginden oturu, insansi robot kontrolu zor bir gorevdir. Bu zorluga neden olan ana problemlerden biri, yurume referansi yorungesinin elde edilmesidir. Bu alanda, Dogrusal Ters Sarkac Modeli (DTSM, Linear Inverted Pendulum Model) olarak bilinen referans elde etme yontemine rastlanmaktadir. Đki ayakli robot yuruyusunde sikca kullanilan kararlilik analizi olan, DTSM’ye bagli referans elde etmenin gelistirilmis sekli, Sifir Moment Noktasi (SMN, Zero Moment Point) olcutu uygulanarak elde edilir. Genellikle, yuruyus sirasinda SMN referansi, destek ayaginin tabani ortasinda sabitlenmis olarak dusunulmektedir. Insan yuruyusunde ise SMN sabit kalmayip, aksine destek ayaginin altinda hareket halinde oldugu icin bu tur referans elde etme dusuncesi dogalliktan yoksundur. Bu bildiri, yuruyus dogrultusuna dik ve paralel dogrultularda hareket eden tek ayak destek SMN referanslari ile yuruyus referansi elde edilme...

İnsansı robot SURALP için sıfır moment noktası tabanlı referans sentezi ile eğimi değişen yüzeylerde yürüme kontrolü

Bir robotun insan gibi iki bacak uzerinde yurumesi ona insanlarin yasama ve calisma ortamlarinda ... more Bir robotun insan gibi iki bacak uzerinde yurumesi ona insanlarin yasama ve calisma ortamlarinda karsilasilan engellerden sakinabilme ozelligi saglayacaktir. Insan seklindeki bir robotun insanlar tarafindan sosyal bir varlik olarak algilanmasinin ve insanlarla isbirliginde bulunmasinin diger sekildeki robotlara gore daha kolay olacagi dusunulmektedir. Bu gorusler ozellikle son 15 yilda insansi robot arastirmalarina ivme kazanmistir. Bununla birlikte bir insansi robotun cok sayidaki serbestlik derecesi ve dogrusal olmayan girift dinamigi yurume kontrolu acisindan ciddi zorluklar teskil etmektedir. Egimi degisen yuzeyler bu kontrol problemini daha da guclestirmektedir. Iki bacakli robot hareket kontrolunde kararli bir yurume referansinin sentezi en az geri beslemeli denge yontemleri kadar onem tasimaktadir. Dogrusal Ters Sarkac Modeli (DTSM) ve Sifir Moment Noktasi (SMN) kararlilik kriterine dayanan referans sentezi yontemlerine literaturde rastlanmaktadir. Sabanci Universitesi Insans...

İnsansı robot platformu SURALP

SURALP, Sabanci Universitesi’nde tasarlanmis yeni bir yuruyen insansi robot platformudur. Robot, ... more SURALP, Sabanci Universitesi’nde tasarlanmis yeni bir yuruyen insansi robot platformudur. Robot, bacaklarinda, kollarinda, boynunda ve belinde olmak uzere toplam 29 serbestlik derecesine sahiptir. Bu bildiri, robotun tasarim esaslarini ve yurume deney sonuclarini sunmaktadir. Robotun, mekanik tasarimi, tahrik mekanizmalari, algilayicilari, kontrol donanimi ve kontrol algoritmalari tanitilmistir. Tahrik sistemi DC motorlar, kayis kasnak mekanizmalari ve Harmonic Drive reduktor unitelerinden olusmaktadir. Algilama donanimi eklem kodlayicilarini, kuvvet/moment algilayicilarini, atalet olcum sistemlerini ve kameralari icermektedir. Kontrol sisteminin ana kismini dSpace sayisal sinyal isleme modulu olusturmaktadir. Kararli bir yuruyus elde etmek amaciyla yumusatilmis bir yurume referans yorungesi kullanilmistir. Zemin darbe telafisi, erken basma referans yorungesi iyilestirmesi, ayak yonelim kontrolu, vucut yonelim ve SMN (Sifir Moment Noktasi, ZMP) ayarlama kontrolu ve bagimsiz eklem ko...

Doğal sıfır moment noktası yörüngeleri ve yürüyen robot referansları

Son kirk yilda arastirmacilarin insansi robotik bilimine olan ilgilerinde fark edilir bir artis g... more Son kirk yilda arastirmacilarin insansi robotik bilimine olan ilgilerinde fark edilir bir artis gorulmustur. Bu artisin sebebi olarak insansi robotlarin yasadigimiz ortama iyi bir sekilde uyum saglayabileceginin dusunulmesi gosterilebilir. Insansi robot kontrolu, kararsiz dinamiginden oturu zorlu bir gorevdir. Yurume referanslarinin elde edilmesi onemli bir problemdir. Insansi robot yuruyusunde onemli bir kararlilik parametresi olan Sifir Moment Noktasi (SMN, Zero Moment Point) kriterinin ve Lineer Ters Sarkac modellerinin kullanildigi referans elde etme yontemlerine rastlanmaktadir. Bu modellerde SMN yurume esnasinda genellikle ayagin ortasina sabitlenmis olarak kabul edilir. Insan yuruyusunde SMN topuktan ayak ucuna dogru hareket ettigi icin bu kabul yuruyus referansinin dogalligini olumsuz yonde etkilemektedir. Bu bildiri hareketli bir SMN referansi yaratmak icin kullanilan bir algoritma onermektedir. Fourier Serileri yaklasiminin uygulanmasiyla cozum kolaylasmakta ve yumusak gec...

SURALP-L – İnsansı Robot Platformu Bacak Modülü

SURALP, Sabanci Universitesi laboratuvarlarinda tasarlanmis ve imal edilmekte olan yeni bir insan... more SURALP, Sabanci Universitesi laboratuvarlarinda tasarlanmis ve imal edilmekte olan yeni bir insansi robot platformudur. Đmalati tamamlandiginda; bacaklarinda, kollarinda, boynunda ve govdesinde toplamda 30 serbestlik derecesine sahip olmasi planlanmaktadir. Su ana kadar bu robotun bacak modulu olan, 12 serbestlik derecesine sahip SURALP-L’nin uretimi tamamlanmistir. Bu bildiri, bacak modulunun ve tum robotun tasarim esaslarini anlatmaktadir. Mekanik tasarim, tahrik mekanizmalari, algilayicilar, kontrol donanimi ve algoritmalari ele alinmistir. Tahrik sistemleri, DC motorlara baglanmis kayis kasnak mekanizmalari ve Harmonic Drive reduktor unitelerini icermektedir. Algilama sistemi, eklem motor kodlayicilari, kuvvet/moment algilayicilari ve atalet algilayicilarindan olusmaktadir. Kontrol sisteminin ana kismini, dSpace sayisal sinyal isleme modulu olusturmaktadir. Robotun kararli yuruyusunu saglamak amaciyla yumusak yuruyus referanslari kullanilmistir. Zemin darbe telafisi, erken basma...

Yay şekilli tek ayak destek SMN yörüngeleri ile insansı robot yürüme referansı sentezi

Ters sarkaç modeli ve salınan bacak telafisi ile oluşturulan yürüyen robot referans yörüngeleri

Bipedal humanoid robot control by fuzzy adjustment of the reference walking plane

The two-legged humanoid structure has advantages for an assistive robot in the human living and w... more The two-legged humanoid structure has advantages for an assistive robot in the human living and working environment. A bipedal humanoid robot can avoid typical obstacles at homes and offices, reach consoles and appliances designed for human use and can be carried in human transport vehicles. Also, it is speculated that the absorption of robots in the human shape into the human society can be easier than that of other artificial forms. However, the control of bipedal walk is a challenge. Walking performance on solely even floor is not satisfactory. The complications of obtaining a balanced walk are dramatically more pronounced on uneven surfaces like inclined planes, which are quite commonly encountered in human surroundings. The difficulties lie in a variety of tasks ranging from sensor and data fusion to the design of adaptation systems which respond to changing surface conditions. This thesis presents a study on bipedal walk on inclined planes with changing slopes. A Zero Moment Point (ZMP) based gait synthesis technique is employed. The pitch angle reference for the foot sole plane −as expressed in a coordinate frame attached at the robot body − is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. Average ankle pitch torques and the average value of the body pitch angle, computed over a history of a predetermined number of sampling instants, are used as the inputs to this system. The proposed control method is tested via walking experiments with the 29 degreesof- freedom (DOF) human-sized full-body humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Experiments are performed on even floor and inclined planes with different slopes. The results indicate that the approach presented is successful in enabling the robot to stably enter, ascend and leave inclined planes with 15 percent (8.5 degrees) grade. The thesis starts with a terminology section on bipedal walking and introduces a number of successful humanoid robot projects. A survey of control techniques for the walk on uneven surfaces is presented. The design and construction of the experimental robotic platform SURALP is discussed with the mechanical, electronic, walking reference generation and control aspects. The fuzzy reference adjustment system proposed for the walk on inclined planes is detailed and experimental results are presented.

Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L

SURALP is a new walking humanoid robot platform. The kinematic arrangement of the robot is planne... more SURALP is a new walking humanoid robot platform. The kinematic arrangement of the robot is planned with 30 independently driven axes, including legs, arms, waist and a neck. The 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is completed. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders and force/torque sensors. The control hardware is centered on a dSpace digital signal processor. This paper develops a smooth walking trajectory generation system and a walking control method based on force feedback. The control method features a ground impact compensator, an early landing trajectory modification system, controllers for the foot orientation, and independent joint position controllers. Experimental walking results with the leg module are presented.

Biped Robot Walking Control on Inclined Planes with Fuzzy Parameter Adaptation

IFAC Proceedings Volumes, 2010

The bipedal structure is suitable for a robot functioning in the human environment, and assuming ... more The bipedal structure is suitable for a robot functioning in the human environment, and assuming assistive roles. However, the bipedal walk is a poses a difficult control problem. Walking on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the upper body is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. A newly defined measure of the oscillatory behavior of the body pitch angle and the average value of the pelvis pitch angle are used as inputs to the fuzzy adaptation system. A 12-degrees-offreedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the fuzzy adaptation algorithms presented are successful in enabling the robot to climb slopes of 5.6 degrees (10 percent).

Trajectory generation with natural ZMP references for the biped walking robot SURALP

2010 IEEE International Conference on Robotics and Automation, 2010

Bipedal locomotion has good obstacle avoidance properties. A robot with human appearance has adva... more Bipedal locomotion has good obstacle avoidance properties. A robot with human appearance has advantages in human-robot communication. However, walking control is difficult due to the complex robot dynamics involved. Stable reference generation is significant in walking control. The Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped robots. This is the main route of reference generation in this paper too. We employ a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass (CoM) trajectory is obtained from predefined ZMP reference trajectories by Fourier series approximation. We reported simulation results with this algorithm in our previous works. This paper presents the first experimental results. Also the use of a ground push phase before foot takeoffs reported in our previous works is tested first time together with our ZMP based reference trajectory. The reference generation strategy is tested via walking experiments on the 29 degrees-of-freedom (DOF) human sized full body humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Experiments indicate that the proposed reference trajectory generation technique is successful.

SURALP: A new full-body humanoid robot platform

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

SURALP is a new walking humanoid robot platform designed at Sabanci University-Turkey. The kinema... more SURALP is a new walking humanoid robot platform designed at Sabanci University-Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.

Walking control of a biped robot on an inclined plane

2nd IFAC International Conference on Intelligent Control Systems and Signal Processing (2009), 2009

The human structure is suitable for an assistive robot in the human environment. However, the bip... more The human structure is suitable for an assistive robot in the human environment. However, the bipedal walk is a challenging problem. Walking on flat and even floor conditions is not satisfactory for the applicability of a humanoid robot. This paper presents an experimental study on bipedal walk on inclined plane. The 29-degrees-of-freedom (DOF) biped robot SURALP is used in the experiments. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. Experiments are carried out on even floor and inclined planes with different slopes. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.

SURALP-L - The leg module of a new humanoid robot platform

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots, 2008

SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When com... more SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this

Circular arc-shaped walking trajectory generation for bipedal humanoid robots

2012 12th IEEE International Workshop on Advanced Motion Control (AMC), 2012

The design of a controller which can achieve a steady and stable walk is crucial in bipedal human... more The design of a controller which can achieve a steady and stable walk is crucial in bipedal humanoid robotics. Reference trajectory generation is central in the walking control. The Zero Moment Point (ZMP) criterion is the most widely used stability criterion for trajectory generation. It is most successfully used when the ZMP equations are coupled with the dynamics equations of

Humanoid robot walking control on inclined planes

2011 IEEE International Conference on Mechatronics, 2011

The humanoid bipedal structure is suitable for a assitive robot functioning in the human environm... more The humanoid bipedal structure is suitable for a assitive robot functioning in the human environment. However, the bipedal walk is a difficult control problem. Walking just on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the feet is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. The average value of the body pitch angle is used as the inputs to the fuzzy logic system. A foot pitch orientation compensator implemented independently for the two feet complements the fuzyy controller. A 12-degrees-of-freedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the control method presented is successful in enabling the robot to climb slopes of 8.5 degrees (15 percent grade).

An inverted pendulum based approach to biped trajectory generation with swing leg dynamics

2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007

Reference trajectory generation is one of the key problems in biped walking robot research. The l... more Reference trajectory generation is one of the key problems in biped walking robot research. The linear inverted pendulum model (LIPM) is employed widely as a useful model which simplifies trajectory generation task. Many reference generation algorithms use the Zero Moment Point (ZMP) Criterion for the LIPM in order to achieve stable walking trajectories. However, LIMP ignores the dynamics of the swing leg. This can lead to tracking problems, especially when the legs are heavy. This paper uses a two-mass LIPM and proposes a fifth order state space description for the dynamics of the robot body and the swing leg in the swing phase. The body center of mass (CMB) reference trajectory is obtained for given foot placement references and the desired ZMP trajectory. An inverse kinematics based position controller is then employed for locomotion. The walking performances with the one-mass and one-mass-two-mass switching linear inverted pendulum models are finally compared via 3D full-dynamics simulations of a 12 degrees of freedom (DOF) biped robot. The results indicate that the proposed model switching between one-mass and two-mass models is useful in improving the stability of the walk.

Design and control of the humanoid robot SURALP

Turkish Journal of Electrical Engineering and Computer Sciences

SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sa... more SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University-Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and Zero Moment Point (ZMP) regulation, and independent joint position controllers are used in zeroing and walking. A smooth walking trajectory is employed. Experimental results indicate that the reference generation and control algorithms are successful in achieving a stable and continuous walk.

Zmp Based Reference Generation For Biped Walking Robots

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-lik... more Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs...

SURALP-L-Đnsansı Robot Platformu Bacak Modülü

Yay Sekilli Tek Ayak Destek SMN Yörüngeleri ile İnsansı Robot Yürüme Referansı Sentezi

Son kirk yildir, insansi robotlar arastirmacilarin ilgisini cekmektedir. Kararsiz dinamiginden ot... more Son kirk yildir, insansi robotlar arastirmacilarin ilgisini cekmektedir. Kararsiz dinamiginden oturu, insansi robot kontrolu zor bir gorevdir. Bu zorluga neden olan ana problemlerden biri, yurume referansi yorungesinin elde edilmesidir. Bu alanda, Dogrusal Ters Sarkac Modeli (DTSM, Linear Inverted Pendulum Model) olarak bilinen referans elde etme yontemine rastlanmaktadir. Đki ayakli robot yuruyusunde sikca kullanilan kararlilik analizi olan, DTSM’ye bagli referans elde etmenin gelistirilmis sekli, Sifir Moment Noktasi (SMN, Zero Moment Point) olcutu uygulanarak elde edilir. Genellikle, yuruyus sirasinda SMN referansi, destek ayaginin tabani ortasinda sabitlenmis olarak dusunulmektedir. Insan yuruyusunde ise SMN sabit kalmayip, aksine destek ayaginin altinda hareket halinde oldugu icin bu tur referans elde etme dusuncesi dogalliktan yoksundur. Bu bildiri, yuruyus dogrultusuna dik ve paralel dogrultularda hareket eden tek ayak destek SMN referanslari ile yuruyus referansi elde edilme...

İnsansı robot SURALP için sıfır moment noktası tabanlı referans sentezi ile eğimi değişen yüzeylerde yürüme kontrolü

Bir robotun insan gibi iki bacak uzerinde yurumesi ona insanlarin yasama ve calisma ortamlarinda ... more Bir robotun insan gibi iki bacak uzerinde yurumesi ona insanlarin yasama ve calisma ortamlarinda karsilasilan engellerden sakinabilme ozelligi saglayacaktir. Insan seklindeki bir robotun insanlar tarafindan sosyal bir varlik olarak algilanmasinin ve insanlarla isbirliginde bulunmasinin diger sekildeki robotlara gore daha kolay olacagi dusunulmektedir. Bu gorusler ozellikle son 15 yilda insansi robot arastirmalarina ivme kazanmistir. Bununla birlikte bir insansi robotun cok sayidaki serbestlik derecesi ve dogrusal olmayan girift dinamigi yurume kontrolu acisindan ciddi zorluklar teskil etmektedir. Egimi degisen yuzeyler bu kontrol problemini daha da guclestirmektedir. Iki bacakli robot hareket kontrolunde kararli bir yurume referansinin sentezi en az geri beslemeli denge yontemleri kadar onem tasimaktadir. Dogrusal Ters Sarkac Modeli (DTSM) ve Sifir Moment Noktasi (SMN) kararlilik kriterine dayanan referans sentezi yontemlerine literaturde rastlanmaktadir. Sabanci Universitesi Insans...

İnsansı robot platformu SURALP

SURALP, Sabanci Universitesi’nde tasarlanmis yeni bir yuruyen insansi robot platformudur. Robot, ... more SURALP, Sabanci Universitesi’nde tasarlanmis yeni bir yuruyen insansi robot platformudur. Robot, bacaklarinda, kollarinda, boynunda ve belinde olmak uzere toplam 29 serbestlik derecesine sahiptir. Bu bildiri, robotun tasarim esaslarini ve yurume deney sonuclarini sunmaktadir. Robotun, mekanik tasarimi, tahrik mekanizmalari, algilayicilari, kontrol donanimi ve kontrol algoritmalari tanitilmistir. Tahrik sistemi DC motorlar, kayis kasnak mekanizmalari ve Harmonic Drive reduktor unitelerinden olusmaktadir. Algilama donanimi eklem kodlayicilarini, kuvvet/moment algilayicilarini, atalet olcum sistemlerini ve kameralari icermektedir. Kontrol sisteminin ana kismini dSpace sayisal sinyal isleme modulu olusturmaktadir. Kararli bir yuruyus elde etmek amaciyla yumusatilmis bir yurume referans yorungesi kullanilmistir. Zemin darbe telafisi, erken basma referans yorungesi iyilestirmesi, ayak yonelim kontrolu, vucut yonelim ve SMN (Sifir Moment Noktasi, ZMP) ayarlama kontrolu ve bagimsiz eklem ko...

Doğal sıfır moment noktası yörüngeleri ve yürüyen robot referansları

Son kirk yilda arastirmacilarin insansi robotik bilimine olan ilgilerinde fark edilir bir artis g... more Son kirk yilda arastirmacilarin insansi robotik bilimine olan ilgilerinde fark edilir bir artis gorulmustur. Bu artisin sebebi olarak insansi robotlarin yasadigimiz ortama iyi bir sekilde uyum saglayabileceginin dusunulmesi gosterilebilir. Insansi robot kontrolu, kararsiz dinamiginden oturu zorlu bir gorevdir. Yurume referanslarinin elde edilmesi onemli bir problemdir. Insansi robot yuruyusunde onemli bir kararlilik parametresi olan Sifir Moment Noktasi (SMN, Zero Moment Point) kriterinin ve Lineer Ters Sarkac modellerinin kullanildigi referans elde etme yontemlerine rastlanmaktadir. Bu modellerde SMN yurume esnasinda genellikle ayagin ortasina sabitlenmis olarak kabul edilir. Insan yuruyusunde SMN topuktan ayak ucuna dogru hareket ettigi icin bu kabul yuruyus referansinin dogalligini olumsuz yonde etkilemektedir. Bu bildiri hareketli bir SMN referansi yaratmak icin kullanilan bir algoritma onermektedir. Fourier Serileri yaklasiminin uygulanmasiyla cozum kolaylasmakta ve yumusak gec...

SURALP-L – İnsansı Robot Platformu Bacak Modülü

SURALP, Sabanci Universitesi laboratuvarlarinda tasarlanmis ve imal edilmekte olan yeni bir insan... more SURALP, Sabanci Universitesi laboratuvarlarinda tasarlanmis ve imal edilmekte olan yeni bir insansi robot platformudur. Đmalati tamamlandiginda; bacaklarinda, kollarinda, boynunda ve govdesinde toplamda 30 serbestlik derecesine sahip olmasi planlanmaktadir. Su ana kadar bu robotun bacak modulu olan, 12 serbestlik derecesine sahip SURALP-L’nin uretimi tamamlanmistir. Bu bildiri, bacak modulunun ve tum robotun tasarim esaslarini anlatmaktadir. Mekanik tasarim, tahrik mekanizmalari, algilayicilar, kontrol donanimi ve algoritmalari ele alinmistir. Tahrik sistemleri, DC motorlara baglanmis kayis kasnak mekanizmalari ve Harmonic Drive reduktor unitelerini icermektedir. Algilama sistemi, eklem motor kodlayicilari, kuvvet/moment algilayicilari ve atalet algilayicilarindan olusmaktadir. Kontrol sisteminin ana kismini, dSpace sayisal sinyal isleme modulu olusturmaktadir. Robotun kararli yuruyusunu saglamak amaciyla yumusak yuruyus referanslari kullanilmistir. Zemin darbe telafisi, erken basma...

Yay şekilli tek ayak destek SMN yörüngeleri ile insansı robot yürüme referansı sentezi

Ters sarkaç modeli ve salınan bacak telafisi ile oluşturulan yürüyen robot referans yörüngeleri

Bipedal humanoid robot control by fuzzy adjustment of the reference walking plane

The two-legged humanoid structure has advantages for an assistive robot in the human living and w... more The two-legged humanoid structure has advantages for an assistive robot in the human living and working environment. A bipedal humanoid robot can avoid typical obstacles at homes and offices, reach consoles and appliances designed for human use and can be carried in human transport vehicles. Also, it is speculated that the absorption of robots in the human shape into the human society can be easier than that of other artificial forms. However, the control of bipedal walk is a challenge. Walking performance on solely even floor is not satisfactory. The complications of obtaining a balanced walk are dramatically more pronounced on uneven surfaces like inclined planes, which are quite commonly encountered in human surroundings. The difficulties lie in a variety of tasks ranging from sensor and data fusion to the design of adaptation systems which respond to changing surface conditions. This thesis presents a study on bipedal walk on inclined planes with changing slopes. A Zero Moment Point (ZMP) based gait synthesis technique is employed. The pitch angle reference for the foot sole plane −as expressed in a coordinate frame attached at the robot body − is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. Average ankle pitch torques and the average value of the body pitch angle, computed over a history of a predetermined number of sampling instants, are used as the inputs to this system. The proposed control method is tested via walking experiments with the 29 degreesof- freedom (DOF) human-sized full-body humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Experiments are performed on even floor and inclined planes with different slopes. The results indicate that the approach presented is successful in enabling the robot to stably enter, ascend and leave inclined planes with 15 percent (8.5 degrees) grade. The thesis starts with a terminology section on bipedal walking and introduces a number of successful humanoid robot projects. A survey of control techniques for the walk on uneven surfaces is presented. The design and construction of the experimental robotic platform SURALP is discussed with the mechanical, electronic, walking reference generation and control aspects. The fuzzy reference adjustment system proposed for the walk on inclined planes is detailed and experimental results are presented.

Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L

SURALP is a new walking humanoid robot platform. The kinematic arrangement of the robot is planne... more SURALP is a new walking humanoid robot platform. The kinematic arrangement of the robot is planned with 30 independently driven axes, including legs, arms, waist and a neck. The 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is completed. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders and force/torque sensors. The control hardware is centered on a dSpace digital signal processor. This paper develops a smooth walking trajectory generation system and a walking control method based on force feedback. The control method features a ground impact compensator, an early landing trajectory modification system, controllers for the foot orientation, and independent joint position controllers. Experimental walking results with the leg module are presented.

Biped Robot Walking Control on Inclined Planes with Fuzzy Parameter Adaptation

IFAC Proceedings Volumes, 2010

The bipedal structure is suitable for a robot functioning in the human environment, and assuming ... more The bipedal structure is suitable for a robot functioning in the human environment, and assuming assistive roles. However, the bipedal walk is a poses a difficult control problem. Walking on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the upper body is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. A newly defined measure of the oscillatory behavior of the body pitch angle and the average value of the pelvis pitch angle are used as inputs to the fuzzy adaptation system. A 12-degrees-offreedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the fuzzy adaptation algorithms presented are successful in enabling the robot to climb slopes of 5.6 degrees (10 percent).

Trajectory generation with natural ZMP references for the biped walking robot SURALP

2010 IEEE International Conference on Robotics and Automation, 2010

Bipedal locomotion has good obstacle avoidance properties. A robot with human appearance has adva... more Bipedal locomotion has good obstacle avoidance properties. A robot with human appearance has advantages in human-robot communication. However, walking control is difficult due to the complex robot dynamics involved. Stable reference generation is significant in walking control. The Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped robots. This is the main route of reference generation in this paper too. We employ a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass (CoM) trajectory is obtained from predefined ZMP reference trajectories by Fourier series approximation. We reported simulation results with this algorithm in our previous works. This paper presents the first experimental results. Also the use of a ground push phase before foot takeoffs reported in our previous works is tested first time together with our ZMP based reference trajectory. The reference generation strategy is tested via walking experiments on the 29 degrees-of-freedom (DOF) human sized full body humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Experiments indicate that the proposed reference trajectory generation technique is successful.

SURALP: A new full-body humanoid robot platform

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

SURALP is a new walking humanoid robot platform designed at Sabanci University-Turkey. The kinema... more SURALP is a new walking humanoid robot platform designed at Sabanci University-Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.

Walking control of a biped robot on an inclined plane

2nd IFAC International Conference on Intelligent Control Systems and Signal Processing (2009), 2009

The human structure is suitable for an assistive robot in the human environment. However, the bip... more The human structure is suitable for an assistive robot in the human environment. However, the bipedal walk is a challenging problem. Walking on flat and even floor conditions is not satisfactory for the applicability of a humanoid robot. This paper presents an experimental study on bipedal walk on inclined plane. The 29-degrees-of-freedom (DOF) biped robot SURALP is used in the experiments. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. Experiments are carried out on even floor and inclined planes with different slopes. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.

SURALP-L - The leg module of a new humanoid robot platform

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots, 2008

SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When com... more SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this

Circular arc-shaped walking trajectory generation for bipedal humanoid robots

2012 12th IEEE International Workshop on Advanced Motion Control (AMC), 2012

The design of a controller which can achieve a steady and stable walk is crucial in bipedal human... more The design of a controller which can achieve a steady and stable walk is crucial in bipedal humanoid robotics. Reference trajectory generation is central in the walking control. The Zero Moment Point (ZMP) criterion is the most widely used stability criterion for trajectory generation. It is most successfully used when the ZMP equations are coupled with the dynamics equations of

Humanoid robot walking control on inclined planes

2011 IEEE International Conference on Mechatronics, 2011

The humanoid bipedal structure is suitable for a assitive robot functioning in the human environm... more The humanoid bipedal structure is suitable for a assitive robot functioning in the human environment. However, the bipedal walk is a difficult control problem. Walking just on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the feet is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. The average value of the body pitch angle is used as the inputs to the fuzzy logic system. A foot pitch orientation compensator implemented independently for the two feet complements the fuzyy controller. A 12-degrees-of-freedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the control method presented is successful in enabling the robot to climb slopes of 8.5 degrees (15 percent grade).

An inverted pendulum based approach to biped trajectory generation with swing leg dynamics

2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007

Reference trajectory generation is one of the key problems in biped walking robot research. The l... more Reference trajectory generation is one of the key problems in biped walking robot research. The linear inverted pendulum model (LIPM) is employed widely as a useful model which simplifies trajectory generation task. Many reference generation algorithms use the Zero Moment Point (ZMP) Criterion for the LIPM in order to achieve stable walking trajectories. However, LIMP ignores the dynamics of the swing leg. This can lead to tracking problems, especially when the legs are heavy. This paper uses a two-mass LIPM and proposes a fifth order state space description for the dynamics of the robot body and the swing leg in the swing phase. The body center of mass (CMB) reference trajectory is obtained for given foot placement references and the desired ZMP trajectory. An inverse kinematics based position controller is then employed for locomotion. The walking performances with the one-mass and one-mass-two-mass switching linear inverted pendulum models are finally compared via 3D full-dynamics simulations of a 12 degrees of freedom (DOF) biped robot. The results indicate that the proposed model switching between one-mass and two-mass models is useful in improving the stability of the walk.