loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Dmitry Popov ; Alexandr Klimchik and Ilya Afanasyev

Affiliation: Innopolis University, Russian Federation

Keyword(s): Stiffness Modeling, Human Mechatronics, Motion Control Systems, Robot Kinematics.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: This paper presents a low-cost anthropomorphic robot, considering its design, simulation, manufacturing and experiments. The robot design was inspired by open source Poppy Humanoid project and enhanced up to 12 DoF lower limb structure, providing additional capability to develop more natural, fast and stable biped robot walking. The current robot design has a non-spherical hip joint, that does not allow to use an analytical solution for the inverse kinematics, therefore another hybrid solution was presented. Problem of robot joint’s compliance was addressed using virtual joint method for stiffness modeling with further compensation of elastic deflections caused by the robot links weight. Finally, we modeled robot’s lower-part in V-REP simulator, manufactured its prototype using 3D printing technology, and implemented ZMP preview control, providing experiments with demonstration of stable biped locomotion.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.224.90.25

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Popov, D.; Klimchik, A. and Afanasyev, I. (2017). Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 66-78. DOI: 10.5220/0006432000660078

@conference{icinco17,
author={Dmitry Popov. and Alexandr Klimchik. and Ilya Afanasyev.},
title={Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={66-78},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006432000660078},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid
SN - 978-989-758-264-6
IS - 2184-2809
AU - Popov, D.
AU - Klimchik, A.
AU - Afanasyev, I.
PY - 2017
SP - 66
EP - 78
DO - 10.5220/0006432000660078
PB - SciTePress