Article Details

RoboticsandAutonomousSystems

Oleh   V. DE-LEON-G [-]
Kontributor / Dosen Pembimbing : Q.LUO .; A.KALOUGUIN
Jenis Koleksi : Jurnal elektronik
Penerbit : STEI - Teknik Elektro
Fakultas : Sekolah Teknik Elektro dan Informatika (STEI)
Subjek :
Kata Kunci : ModelingBipedwalkingPeriodicmotionsHumanoidrobots
Sumber : robotics and Autonomous Systems 112 (2019) 229–243
Staf Input/Edit : wedya  
File : 1 file
Tanggal Input : 2018-12-20 11:42:07

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2018_EJRNL_PP_V_DE_LEON-GOMEZ_1.pdf

Akses : Terbatas
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The modeling of humanoid robots with many degrees-of-freedom (DoF) can be done via the completedynamic model. However, the complexity of the model can hide the essential factor of the walking, i.e.theequilibriumoftherobot.Onealternativeistosimplifythemodelbyneglectingsomedynamicaleffectslikeinthe3DLinearInvertedPendulum(LIP)model.Nonetheless,theassumptionthattheZMPwillbeat the base of the pendulum is not ensured and the resulting walking gaits can make the Zero MomentPoint (ZMP) evolve outside of the convex hull of support when they are replicated on the completemodel of any humanoid robot. The objective of this paper is to propose a new model for walking thathasthesamedimensionasthe3DLIPmodelbutconsidersthecompletedynamicsofthehumanoid.Theproposed model is calledessential modeland it can be written based on the internal states of the robotandpossibleexternalinformation,therebygeneratingmodelsfordifferentpurposes.ThemainadvantageoftheessentialmodelisthatitallowstogeneratewalkinggaitsthatensurethattheZeroMomentPoint(ZMP)iskeptinadesiredpositionoritfollowsadesiredpathwhilethegaitisperformed.Furthermore,impactsoftheswingfootwiththegroundcanbeconsideredtocomputeperiodicwalkinggaits.Inordertoshowtheadvantagesoftheproposedmodel,numericalstudiesareperformedtodesignperiodicwalkinggaitsforthehumanoidrobotROMEO.