Mechanical design and optimal control of humanoid robot (TPinokio)
The mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and f...
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Format: | Article |
Language: | English |
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Wiley
2014-04-01
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Series: | The Journal of Engineering |
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Online Access: | http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256 |
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author | Teck Chew Wee |
author_facet | Teck Chew Wee |
author_sort | Teck Chew Wee |
collection | DOAJ |
description | The mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and faster walking speed and it is even possible to perform stretch knee walking. This study presents the mechanical design of a toe-feet bipedal, TPinokio and the implementation of some optimal walking gait generation methods. The optimality in the gait trajectory is achieved by applying augmented model predictive control method and the pole-zero cancellation method, taken into consideration of a trade-off between walking speed and stability. The mechanism of the TPinokio robot is designed in modular form, so that its kinematics can be modelled accurately into a multiple point-mass system, its dynamics is modelled using the single and double mass inverted pendulum model and zero-moment-point concept. The effectiveness of the design and control technique is validated by simulation testing with the robot walking on flat surface and climbing stairs. |
first_indexed | 2024-12-14T07:08:04Z |
format | Article |
id | doaj.art-6026d1d8f0e04253964cfedf799f99f7 |
institution | Directory Open Access Journal |
issn | 2051-3305 |
language | English |
last_indexed | 2024-12-14T07:08:04Z |
publishDate | 2014-04-01 |
publisher | Wiley |
record_format | Article |
series | The Journal of Engineering |
spelling | doaj.art-6026d1d8f0e04253964cfedf799f99f72022-12-21T23:12:05ZengWileyThe Journal of Engineering2051-33052014-04-0110.1049/joe.2013.0256JOE.2013.0256Mechanical design and optimal control of humanoid robot (TPinokio)Teck Chew Wee0Imperial College LondonThe mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and faster walking speed and it is even possible to perform stretch knee walking. This study presents the mechanical design of a toe-feet bipedal, TPinokio and the implementation of some optimal walking gait generation methods. The optimality in the gait trajectory is achieved by applying augmented model predictive control method and the pole-zero cancellation method, taken into consideration of a trade-off between walking speed and stability. The mechanism of the TPinokio robot is designed in modular form, so that its kinematics can be modelled accurately into a multiple point-mass system, its dynamics is modelled using the single and double mass inverted pendulum model and zero-moment-point concept. The effectiveness of the design and control technique is validated by simulation testing with the robot walking on flat surface and climbing stairs.http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256optimal controlrobot dynamicsrobot kinematicshumanoid robotslegged locomotionpredictive controlpoles and zerosmechanical stabilitymechanical designoptimal controlhumanoid robotTPinokio robottoe-feet bipedaloptimal walking gait generation methodsgait trajectoryaugmented model predictive control methodpole-zero cancellation methodwalking speedstabilitymultiple point-mass systemdouble mass inverted pendulum modelsingle mass inverted pendulum modelzero-moment-point concept |
spellingShingle | Teck Chew Wee Mechanical design and optimal control of humanoid robot (TPinokio) The Journal of Engineering optimal control robot dynamics robot kinematics humanoid robots legged locomotion predictive control poles and zeros mechanical stability mechanical design optimal control humanoid robot TPinokio robot toe-feet bipedal optimal walking gait generation methods gait trajectory augmented model predictive control method pole-zero cancellation method walking speed stability multiple point-mass system double mass inverted pendulum model single mass inverted pendulum model zero-moment-point concept |
title | Mechanical design and optimal control of humanoid robot (TPinokio) |
title_full | Mechanical design and optimal control of humanoid robot (TPinokio) |
title_fullStr | Mechanical design and optimal control of humanoid robot (TPinokio) |
title_full_unstemmed | Mechanical design and optimal control of humanoid robot (TPinokio) |
title_short | Mechanical design and optimal control of humanoid robot (TPinokio) |
title_sort | mechanical design and optimal control of humanoid robot tpinokio |
topic | optimal control robot dynamics robot kinematics humanoid robots legged locomotion predictive control poles and zeros mechanical stability mechanical design optimal control humanoid robot TPinokio robot toe-feet bipedal optimal walking gait generation methods gait trajectory augmented model predictive control method pole-zero cancellation method walking speed stability multiple point-mass system double mass inverted pendulum model single mass inverted pendulum model zero-moment-point concept |
url | http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256 |
work_keys_str_mv | AT teckchewwee mechanicaldesignandoptimalcontrolofhumanoidrobottpinokio |