Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and robot height influence on walking stability.
نویسندگان
چکیده
منابع مشابه
Walking robot modelling aspects
The paper describes a walking robot leg modelling process. A six-legged walking robot — the so-called hexapod is concerned. Each leg consists of three links driven by Hitec HS475HB servo motors. The proposed model is used for testing leg kinematics and dynamics of the robot gait. One can examine a number of walking algorithms. The model includes: the identified description of the servo motors, ...
متن کاملA two-wheeled inverted pendulum robot with friction compensation
This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...
متن کاملBiped Robot Walking Using Gravity-Compensated Inverted Pendulum Mode and Computed Torque Control
This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...
متن کاملHeight Estimation of Gondola-typed Facade Robot
Purpose We researched an automated and robotic facade maintenance robot. This robot can protect people against safety hazards, and save labour cost for building facade maintenance. Our platform is gondola type. Accurate and robust height estimation is necessary for automation. We propose a methodology for height estimation. Method Even though there are many sensor systems for height estimation,...
متن کاملDesign and control of Two-Wheeled Inverted Pendulum Mobile Robot
This paper addresses design and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop control scheme is proposed to help the robot ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of International Conference on Artificial Life and Robotics
سال: 2016
ISSN: 2188-7829
DOI: 10.5954/icarob.2016.gs9-2