Whole body motion generation of 18-DOF biped robot on flat surface during SSP & DSP
by Ravi Kumar Mandava; Pandu Ranga Vundavilli
International Journal of Modelling, Identification and Control (IJMIC), Vol. 29, No. 3, 2018

Abstract: The present work explains the dynamically balanced gait generation of an 18-DOF biped robot on a flat surface during both double support phase (DSP) and single support phase (SSP). To generate the said gaits, cubic polynomial trajectories are assumed to be followed by the swing foot and wrist end of the hand. Further, the hip joint is assumed to follow a straight line and cubic polynomial trajectories in the sagittal and frontal planes, respectively. A closed form solution methodology based on inverse kinematics is used for determining the joint angles made by various links of the biped robot. Once the gait related to upper and lower limbs of the two legged robot is generated, the balance of the generated gait is decided by finding the position of zero moment point (ZMP). Moreover, Lagrange-Euler formulation is used for calculating the dynamics of the biped robot. Further, the effectiveness of the developed algorithm in terms of generating dynamically balanced gaits on flat surface has been verified in computer simulations. Further, the generated gait has been tested on a real biped robot.

Online publication date: Tue, 17-Apr-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com