Development of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems

Hudyjaya Siswoyo Jo, Nazim Mir-Nasiri

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems. The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control. This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot. The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the effect of major hip mass of the robot on the stability of its walk. In addition, the developed smooth joint trajectory planning eliminates the impacts of feet during the landing. In this paper, the new design of mechanism for locomotion systems and balancing systems are introduced. An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances. The effectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype. The experimental results provide evidence that the proposed strategy is feasible and advantageous.

Original languageEnglish
Pages (from-to)425-437
Number of pages13
JournalInternational Journal of Automation and Computing
Volume10
Issue number5
DOIs
Publication statusPublished - Oct 2013

Fingerprint

Balancing
Robot
Walk
Robots
Controller
Trajectory Planning
Controllers
Motion Control
Locomotion
Motion control
Landing
Decoupling
Response Time
Control Strategy
Eliminate
Disturbance
Degree of freedom
Trajectories
Prototype
Minimise

Keywords

  • Bipedal robot
  • bipedal walking
  • legged locomotion
  • robot dynamics
  • stability control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Applied Mathematics
  • Modelling and Simulation

Cite this

Development of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems. / Jo, Hudyjaya Siswoyo; Mir-Nasiri, Nazim.

In: International Journal of Automation and Computing, Vol. 10, No. 5, 10.2013, p. 425-437.

Research output: Contribution to journalArticle

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