Abstract
This paper presents the conceptual design of a new four degree-of-freedom minimalist bipedal walking robot and specifically discusses on the physical development of the robot's sagittal balancing mechanism and its control in a single support phase. The proposed mechanism combines a novel method for stability sensing and balancing of the robot during the strides. The sensing mechanism utilizes an additional flexible ankle joint which is able to provide responsive and accurate measurement of the sagittal instability of the bipedal robot. The use of double balancing mass and the developed control algorithm are responsible to maintain the sideway stability of the robot during single support phase. The proposed method enables the walking control algorithms to be decoupled from the robot stability control algorithms and also simplifies the overall robot motion control and reduces the requirements of computing power. 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 physical prototype and the experimental results are presented.
| Original language | English |
|---|---|
| Title of host publication | Procedia Engineering |
| Publisher | Elsevier |
| Pages | 113-119 |
| Number of pages | 7 |
| Volume | 41 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| Event | 2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia Duration: Sep 4 2012 → Sep 6 2012 |
Other
| Other | 2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 |
|---|---|
| Country | Malaysia |
| City | Kuching, Sarawak |
| Period | 9/4/12 → 9/6/12 |
Fingerprint
Keywords
- Bipedal walking
- Sagittal balancing
- Single support phase
ASJC Scopus subject areas
- Engineering(all)
Cite this
Stability control of minimalist bipedal robot in single support phase. / Jo, Hudyjaya Siswoyo; Mir-Nasiri, Nazim.
Procedia Engineering. Vol. 41 Elsevier, 2012. p. 113-119.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Stability control of minimalist bipedal robot in single support phase
AU - Jo, Hudyjaya Siswoyo
AU - Mir-Nasiri, Nazim
PY - 2012
Y1 - 2012
N2 - This paper presents the conceptual design of a new four degree-of-freedom minimalist bipedal walking robot and specifically discusses on the physical development of the robot's sagittal balancing mechanism and its control in a single support phase. The proposed mechanism combines a novel method for stability sensing and balancing of the robot during the strides. The sensing mechanism utilizes an additional flexible ankle joint which is able to provide responsive and accurate measurement of the sagittal instability of the bipedal robot. The use of double balancing mass and the developed control algorithm are responsible to maintain the sideway stability of the robot during single support phase. The proposed method enables the walking control algorithms to be decoupled from the robot stability control algorithms and also simplifies the overall robot motion control and reduces the requirements of computing power. 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 physical prototype and the experimental results are presented.
AB - This paper presents the conceptual design of a new four degree-of-freedom minimalist bipedal walking robot and specifically discusses on the physical development of the robot's sagittal balancing mechanism and its control in a single support phase. The proposed mechanism combines a novel method for stability sensing and balancing of the robot during the strides. The sensing mechanism utilizes an additional flexible ankle joint which is able to provide responsive and accurate measurement of the sagittal instability of the bipedal robot. The use of double balancing mass and the developed control algorithm are responsible to maintain the sideway stability of the robot during single support phase. The proposed method enables the walking control algorithms to be decoupled from the robot stability control algorithms and also simplifies the overall robot motion control and reduces the requirements of computing power. 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 physical prototype and the experimental results are presented.
KW - Bipedal walking
KW - Sagittal balancing
KW - Single support phase
UR - http://www.scopus.com/inward/record.url?scp=84901012280&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84901012280&partnerID=8YFLogxK
U2 - 10.1016/j.proeng.2012.07.150
DO - 10.1016/j.proeng.2012.07.150
M3 - Conference contribution
AN - SCOPUS:84901012280
VL - 41
SP - 113
EP - 119
BT - Procedia Engineering
PB - Elsevier
ER -