NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot

Michele Folgheraiter; Sharafatdin Yessirkepov; Timur Umurzakov; Rizabek Korabay

doi:10.1109/ICARA56516.2023.10126025

NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot

Michele Folgheraiter
, Sharafatdin Yessirkepov
, Timur Umurzakov
, Rizabek Korabay

Nazarbayev University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.

Original language	English
Title of host publication	2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	38-43
Number of pages	6
ISBN (Electronic)	9781665489218
DOIs	https://doi.org/10.1109/ICARA56516.2023.10126025
Publication status	Published - 2023
Event	9th International Conference on Automation, Robotics and Applications, ICARA 2023 - Abu Dhabi, United Arab Emirates Duration: Feb 10 2023 → Feb 12 2023

Publication series

Name	2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023

Conference

Conference	9th International Conference on Automation, Robotics and Applications, ICARA 2023
Country/Territory	United Arab Emirates
City	Abu Dhabi
Period	2/10/23 → 2/12/23

Funding

ACKNOWLEDGMENTS This work was conducted within the project ”Development of an Intrinsically Safe Actuation System with Adaptive Neuromorphic Control for Humanoid Robotics Application” supported by Nazarbayev University under the Faculty Development Competitive Research Grants Program Award #021220FD0551.

Funders	Funder number
Nazarbayev University	021220FD0551

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy
SDG 9 Industry, Innovation, and Infrastructure

Keywords

Bipedal Robot
Elastic Foot
Humanoid Robot
Low-Power Consumption Biped

ASJC Scopus subject areas

Computer Science Applications
Mechanical Engineering
Control and Optimization
Artificial Intelligence

Access to Document

10.1109/ICARA56516.2023.10126025

Cite this

Folgheraiter, M., Yessirkepov, S., Umurzakov, T., & Korabay, R. (2023). NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot. In 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023 (pp. 38-43). (2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARA56516.2023.10126025

NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot. / Folgheraiter, Michele; Yessirkepov, Sharafatdin; Umurzakov, Timur et al.
2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 38-43 (2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Folgheraiter, M, Yessirkepov, S, Umurzakov, T & Korabay, R 2023, NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot. in 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023. 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 38-43, 9th International Conference on Automation, Robotics and Applications, ICARA 2023, Abu Dhabi, United Arab Emirates, 2/10/23. https://doi.org/10.1109/ICARA56516.2023.10126025

Folgheraiter M, Yessirkepov S, Umurzakov T, Korabay R. NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot. In 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 38-43. (2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023). doi: 10.1109/ICARA56516.2023.10126025

Folgheraiter, Michele ; Yessirkepov, Sharafatdin ; Umurzakov, Timur et al. / NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot. 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 38-43 (2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023).

@inproceedings{ac47b9c69033493eb1ee254ceefac737,

title = "NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot",

abstract = "A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.",

keywords = "Bipedal Robot, Elastic Foot, Humanoid Robot, Low-Power Consumption Biped",

author = "Michele Folgheraiter and Sharafatdin Yessirkepov and Timur Umurzakov and Rizabek Korabay",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 9th International Conference on Automation, Robotics and Applications, ICARA 2023 ; Conference date: 10-02-2023 Through 12-02-2023",

year = "2023",

doi = "10.1109/ICARA56516.2023.10126025",

language = "English",

series = "2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "38--43",

booktitle = "2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023",

address = "United States",

}

TY - GEN

T1 - NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot

AU - Folgheraiter, Michele

AU - Yessirkepov, Sharafatdin

AU - Umurzakov, Timur

AU - Korabay, Rizabek

PY - 2023

Y1 - 2023

N2 - A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.

AB - A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.

KW - Bipedal Robot

KW - Elastic Foot

KW - Humanoid Robot

KW - Low-Power Consumption Biped

UR - https://www.scopus.com/pages/publications/85161317103

UR - https://www.scopus.com/pages/publications/85161317103#tab=citedBy

U2 - 10.1109/ICARA56516.2023.10126025

DO - 10.1109/ICARA56516.2023.10126025

M3 - Conference contribution

AN - SCOPUS:85161317103

T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023

SP - 38

EP - 43

BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023

Y2 - 10 February 2023 through 12 February 2023

ER -

NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot

Abstract

Publication series

Conference

Funding

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this