Publication Type : Journal Article
Publisher : International Journal of Robotics Automation, Acta Press
Source : International Journal of Robotics & Automation, Acta Press, Canada, Volume 33, Issue 6 (2018)
Campus : Bengaluru
School : School of Engineering
Department : Electronics and Communication
Year : 2018
Abstract : This work addresses the planning and control of stable walking of a biped robot on an uneven terrain. The existing models used for gait planning of a biped robot, constrain the hip trajectory to be at a constant value or a pre-deﬁned pattern. In this work, the robot is modelled as a non-linear 3D inverted pendulum, where the hip trajectory varies according to the terrain. The foot of the robot has three degrees of freedom in the sagittal plane to obtain proper ground contact points on an uneven terrain. The zero moment point (ZMP) is ﬁxed at the centre of the support polygon formed by the contact points. The relationship between ZMP and centre of mass of the robot is derived, and a suitable reference centre of mass trajectory is dynamically planned at each step. A control law is derived to control the centre of mass position and is validated for a robot walking on a continuous uneven terrain through both simulation and experiments.
Cite this Research Publication : S. Balakrishnan, Shikha Tripathi, Sudarshan, T. S. B., and Dr. Sreeja Kochuvila, “Non Linear Dynamic Model with Varying Hip Height for Stable Walking of Biped Robot”, International Journal of Robotics & Automation, vol. 33, no. 6, 2018.