A novel sideway stability control method for bipedal walking robot

H. Siswoyo Jo, N. Mir-Nasiri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel sensing and balancing method for bipedal walking robot. The proposed method involves the design of semi-rigid ankle joint to facilitate the responsive and accurate measurement of the sideway (sagittal) instability of the walking robot. The use of double balancing mass and the developed control algorithms provide a constant sideway stability of the robot while it walks in forward direction. The smooth legs trajectory planning then can be implemented successfully regardless of the robot sideway stability condition. The developed method is able to decouple the walking algorithms from the robot stability issues. Furthermore, the use of two different masses for the balancing helps to improve response time and efficiency of the balancing system. In this paper, the proposed method is tested on the simplified model of a robot balancing on its single leg and the feasibility of the method is confirmed by the simulation results obtained with MATLAB Simulink tools.

Original languageEnglish
Title of host publicationProceedings of the Fourth Global Conference on Power Control and Optimization
Pages130-134
Number of pages5
DOIs
Publication statusPublished - Aug 16 2011
Event4th Global Conference on Power Control and Optimization - Sarawak, Malaysia
Duration: Dec 2 2010Dec 4 2010

Publication series

NameAIP Conference Proceedings
Volume1337
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Other

Other4th Global Conference on Power Control and Optimization
CountryMalaysia
CitySarawak
Period12/2/1012/4/10

Keywords

  • Bipedal walking
  • Semi-rigid ankle joint
  • Sideway Balancing

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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