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...

Full description

Bibliographic Details
Main Author: Teck Chew Wee
Format: Article
Language:English
Published: Wiley 2014-04-01
Series:The Journal of Engineering
Subjects:
Online Access:http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256
_version_ 1818398644629405696
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