Modelling, simulation, and control for a bipedal walking robot
Henry Fung
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Abstract
The author has granted a nonexclusive license allowing Library and Archives Canada to reproduce, publish, archive, preserve, conserve, communicate to the public by telecommunication or on the Internet, loan, distribute and sell theses worldwide, for commercial or noncommercial purposes, in microform, paper, electronic and/or any other formats. L'auteur a accorde une licence non exclusive permettant a la Bibliotheque et Archives Canada de reproduire, publier, archiver, sauvegarder, conserver, transmettre au public par telecommunication ou par I'lnternet, preter, distribuer et vendre des theses partout dans le monde, a des fins commerciaies ou autres, sur support microforme, papier, electronique et/ou autres formats. The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. L'auteur conserve la propriete du droit d'auteur et des droits moraux qui protege cette these. Ni la these ni des extraits substantiels de celle-ci ne doivent etre imprimes ou autrement reproduits sans son autorisation. In compliance with the Canadian Privacy Act some supporting forms may have been removed from this thesis. Conformement a la loi canadienne sur la protection de la vie privee, quelques formulaires secondaires ont ete enleves de cette these. While these forms may be included in the document page count, their removal does not represent any loss of content from the thesis. Bien que ces formulaires aient inclus dans la pagination, il n'y aura aucun contenu manquant. The undersigned recommend to the Faculty of Graduate Studies and Research acceptance of the Thesis Modelling, Simulation, and Control for a Bipedal Walking Robot
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A Biologically Founded Design and Control of a Humanoid Biped
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SPEJBL—The biped walking robot
7th IFAC International Conference on Fieldbuses and Networks in Industrial and Embedded Systems (2007), 2007
Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is extendable to use MIMO controllers, flexible trajectory, and dynamic gait. Distributed servo motor control over a CAN fieldbus is used. Important points in construction and kinematics, motor current cascaded control and fieldbus timing are emphasized. The project is open and full documentation is available.
Walking trajectory control of a biped robot Technical report B04-18
A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universität Berlin, finally a briefly mechanical description of the robot structure is presented.
Simulator Based on a Simple Biped System - SandraCFPabloSS.pdf
Simulator Based on a Simple Biped System, 2014
This study shows the mathematical modeling and the development of the simulator of a simple biped system in Matlab . We used specific libraries of Matlab that allowed us to simulate mechanical systems. In order to design the 3D model, we used SolidWorks . The biped system is based on the structure of lower limb exoskeleton which is used in medical rehabilitation. We present the dynamic model calculation of the biped system through Euler-Lagrange method, and the stability analysis using Lyapunov theory. We present the implementation of a tracking control structure using a trajectory defined by fifth-order polynomials. The main consideration in this work is that the system is free of interaction with the environment, i.e. , we discussed the ideal case.
Modeling and Kinematic Analysis of the Biped Robot
Modeling and Kinematics Analysis of the Biped Robot, 2015
Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution for forward kinematics (FK). Furthermore the forward kinematics is also confirmed using Peter-Corke toolbox in this work. This gives the desired results of the different orientation. The CAD model is also made to give a better visual model of the biped robot. Keywords—Biped robot, Design, Denavit-Hartenberg parameters, Forward kinematics
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The authors of the paper have collaborated in a joint project involving four French control, mechanics and computer-science laboratories. In the paper, various mechanical architectures of biped robots are examined in detail, showing that their walking capabilities are closely linked to the kinematic characteristics of the mechanical structure. Then, it is shown that the geometrical and inertial parameters of the mechanical systems strongly affect the gait. In particular, the influence of the biped inertia on the lateral stability of the system, as well as the conditions of the existence of passive pendular gaits during the swing phase, are computationally analyzed. Extending the ideas previously developed, some characteristics of the mechanical architecture and design of the BIP project can be clearly justified. It turns out that a kinematic structure with 15 degrees of freedom is necessary in order for the biped robot to develop anthropomorphic gaits. Furthermore, as an anthropometric mass distribution can improve the walking abilities of the robot, special transmitters have been designed in order to help to fulfil this requirement.
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Lecture Notes in Computer Science, 2010
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different stable walking gaits are derived: one which fulfills the widely used criterion of the Zero Moment Point (ZMP) and another one violating this criterion. Both gaits are determined using systematic model-based designs. The model and the two gaits are used in simulations to illustrate conservatisms of two commonly used methods for stability analysis of bipedal walking: the ZMP criterion and Poincaré return map method. We show that none of these two methods can give us a general qualification of bipedal walking stability.
Construction and Control of the Bipedal Walking Robot
MATEC Web of Conferences
This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of...
Modeling and Designing of Bipedal Walking Robot
A humanoid robot is a robot with its body shape built to resemble the human body.The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Andriods are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented an intuitive approach using software for gait animation, and a periodic approach that provides a scalable gait with parameters for controlling step length, step height and step period. A bipedal robot also requires a control system to ensure the stability of the robot while walking.
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Simulation of Bipedal Walking
2001
A 3-dimensional computer model of sustainedbipedal walking is presented. It is intended be used as adevelopment tool for walking controllers. The directdynamic simulation has 8 segments, 19 degrees offreedom and is driven by prescribed joint moment andstiffness trajectories. Limited feedback in the form of aproportional-derivative controller provides upper bodystability and allows walking to be sustained indefinitely.The joint moment and stiffness trajectories are specifiedin coarse block segments. By changing the intensity of hipextensor activity during terminal stance the walking stridelength is modulated.
An alternative approach to synthesizing bipedal walking
Biological Cybernetics, 2003
Based on mechanical analysis, three gait descriptors are found which should be controlled to generate cyclic gait of a seven-link humanoid biped in the sagittal plane: (i) step length, (ii) step time, and (iii) the velocity of the center of mass (CoM) at push off. Two of these three gait descriptors can be chosen independently, since the CoM moves almost ballistically during the swing phase. These gait descriptors are formulated as end-point conditions and are regulated by a model predictive controller. In addition, continuous controls at the trunk and knees are implemented to maintain the trunk upright and to ensure weight bearing. The model predictive controller is realized by quadratic dynamic matrix control, which offers the possibility of including constraints that are exposed by the environment and the biped itself. Specifying step length and CoM velocity at push off, the controller generates a symmetric and stable gait. The proposed control scheme serves as a general-purpose solution for the generation of a bipedal gait. The proposed model contains fewer parameters than other models, and they are all directly related to determinants of bipedal gait: step length, trunk orientation, step time, walking velocity, and weight bearing. The proposed control objectives and the model of humanoid bipedal walking have potential applications in robotics and rehabilitation engineering.
Kinematics and dynamics modelling of the biped robot
IFAC Proceedings Volumes, 2013
Analytical techniques are presented for the motion planning and control of a 10 degree-of-freedom biped walking robot. From the Denavit-Hartenberg method and Newton-Euler equations, joint torques are obtained in terms of joint trajectories and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain stability of walking biped robot Archie developed in IHRT. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot.
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In this article, we intend to consider the behavior and control of a biped walking robot using kinematic and dynamic relations. At first, by using simple model of humanoid robot and essentional equations the angles, angular velocities, accelerations of motors and required torques for moving on a straight line are find out. In the second step considering numerical values of the robot parameters and constructing the dynamic model the abilities of robot are examined and simulated.
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In this paper, we present a simple controller for a planar biped walking system based on a compass-like biped model. It is well known that a walking cycle can be divided into two basic phases: a double support phase and a single support phase. We note the key essential elements for each support phase and determine their relationships throughout the walking cycle, and utilize them for stable walking control. This paper is structured in two parts. In the first part, the relationship between step length and initial push-off speed is explored and was utilized in the double support phase to correctly prepare for the consequence ballistic-like movement prior to leg swing. In the second part, the relationship between the states of stance leg and the hip joint angle was utilized to prepare for the following single support phase. This is use to regulate stability between the step length and the upper body speed in realizing the controller.
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: locomobility measure, perturbation analysis, and lowpass frequency response. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
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In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase for introducing active compliance and then to increase stability of the walk. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. A comparison with human walking is presented and discussed. We prove that we can maintain robot stability and walk cycle's repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one. A power consumption analysis confirms that our approach could be implemented on the real robot ROBIAN.
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