TY - GEN
T1 - A simple mapping methodology of gait biomechanics for walking control of a biped robot
AU - Astudillo, Daniel
AU - Minchala, Luis I.
AU - Astudillo-Salinas, Fabian
AU - Vazquez-Rodas, Andres
AU - Gonzalez, Luis
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms.
AB - This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms.
KW - Biped
KW - control
KW - gait
KW - robot
UR - http://www.br-ie.org/pub/index.php/rbie/article/view/v29p1060
U2 - 10.1109/INTERCON.2018.8526395
DO - 10.1109/INTERCON.2018.8526395
M3 - Contribución a la conferencia
AN - SCOPUS:85058030370
T3 - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
BT - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
Y2 - 8 August 2018 through 10 August 2018
ER -