Title: An analytical approach for generating balanced gaits of a biped robot on stairs and sloping surfaces
Authors: Ravi Kumar Mandava; Pandu Ranga Vundavilli
Addresses: Vignan's Foundation for Science, Technology and Research, Guntur-522213, India; IIT Bhubaneswar, Bhubaneswar-752050, India ' IIT Bhubaneswar, Bhubaneswar, Odisha-751013, India
Abstract: The present paper deals with the generation of dynamically balanced walking gaits of a biped robot while moving on various terrain conditions such as staircase and sloping surface. Here, an attempt is made to eliminate the complex inverse dynamics approach used to generate the gaits for the upper body by defining the trajectory for the movement of the hands and restricting the motion of the trunk. However, the restricted movement of the trunk is compensated by the movement of hands in the sagittal plane. The lower limbs gait has been generated by using the concept of inverse kinematics in both the sagittal and frontal planes. A provision is given in the algorithm to accommodate the variations in the dimension of the staircase and angle of slope of the terrain. Further, a study has also been conducted to investigate the influence of swing foot trajectory (that is, quadratic, cubic and fifth-order polynomial) on the balance of the robot. Once the model is developed, its performance has been benchmarked while ascending and descending the staircase and sloping surface after considering both the single and double support phases. Finally, the developed algorithms are tested on a real two legged robot.
Keywords: biped robot; staircase; sloping surface; zero moment point.
International Journal of Modelling, Identification and Control, 2019 Vol.33 No.1, pp.28 - 50
Available online: 28 Nov 2019 *Full-text access for editors Access for subscribers Purchase this article Comment on this article