| Title: | GS9-2 Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and robot height influence on walking stability. |
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| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 208-211 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS9-2 |
| Author(s): | Ramil Khusainov, Ilya Afanasyev, Evgeni Magid |
| Publication Date: | January 29, 2016 |
| Keywords: | bipedal robot, dynamic stability, Simulink, AR-601M robot |
| Abstract: | Humanoid stable walking is a complex task due the high number of degrees of freedom, system nonlinearity and relatively small size of robot footprint. Biped robots tend to fall down as walking speed increases or when the terrain conditions change. This paper presents dynamically stable walking modelling of Russian humanoid AR-601M in Simulink environment with virtual height inverted pendulum model (VHIPM), an effective and simple trajectory generation method based on inverted pendulum model (IPM). This algorithm adjusts height of the center of mass in IPM model to reduce ZMP error and guarantees stable locomotion up to some critical speed. We investigate influence of the step length and step period on walking stability. Maximum torque values in leg joints are estimated in order to verify if such trajectories are attainable by robot motors. We demonstrate that the robot model is capable to achieve significant walking speeds on flat surfaces using this method. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS9-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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