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Abstrakty
Proposition of compliant foot for bipedal robot is introduced and its properties are investigated. The foot consists of four compliant elements (spring-damper) mounted to four vertices of a rectangular frame. The results of robot gait analysis using Zero Moment Point method are shown. ZMP trajectories for rigid and compliant foot are compared and conclusions are formulated. Foot compliance reduces needed for postural stabilization compensatory movements of the upper part of the body by those simplifying control methods and construction. Obtained results will be applied in real prototype of small humanoidal robot. Robot construction in which proposed foot will be applied is shortly introduced.
Słowa kluczowe
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Tom
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68--76
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Bibliogr. 16 poz., rys.
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autor
- Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665 www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Magdalena-Zurawska
autor
- Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665, www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Teresa-Zielinska
autor
- Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665, www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Maksymilian-Szumowski.
Bibliografia
- [1] Alba González A., Zielinska T., Postural Equilibrium Criteria Concerning Feet Properties For Biped Robots, ”Journal of Automation, Mobile Robotics & Intelligent Systems” 2012, vol. 6, No. 1, 22–27.
- [2] Bruneau O., Ben Oezdou F.:, “Compliant contact of walking robot feet”. In: Proc. of ECPD International Conference on Intelligent Robotics, Intelligent Automation and Active Systems, 1997, 1–7.
- [3] Bum-Joo L., Yong-Duk‘K., Jong-Hwan K., “Balance control of humanoid robot for HuroSot”. In: Proc. of 16th IFAC World Congress, 2005, vol. 16, part 1, 2087–2092.
- [4] Ganesh K. K., Pushparaj Mani P., “Dynamic modelling & simulation of a four legged jumping robot with compliant legs”, Robotic and Autonomous Systems, 2013, vol. 61, 221–228.
- [5] Hashimoto K. et al., “A Study of Function of Foot’s Medial Longitudinal Arch Using Biped Humanoid Robot”, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, 2206–2211. DOI:10.1109/IROS.2010.5650414.
- [6] Manoonpong P. et al., “Compliant Ankles and Flat Feet for Improved Self-Stabilization and Passive Dynamics of the Biped Robot ”RunBot””, International Conference on Humanoid Robots, 2011, 276–281.
- [7] Nishiwaki K. et al., “Toe joints that enhance bipedal and fullbody motion of humanoid robots”. In: Proc. of IEEE International Conference on Robotics and Automation, ICRA, 2002, vol.3, 2277–2282. DOI:10.1109/ROBOT.2002.1013704.
- [8] Sellaouti R. et al., “Faster and Smoother Walking of Humanoid HRP-2 with passive toe joints”, In: IEEE International Conference on Intelligent Robots and Systems, ICRA, 2006, vol. 1, 4909–4914. DOI: 10.1109/IROS.2006.282449.
- [9] Uicker J. J., Pennock G. R., Shigley J. E., Theory of Machines and Mechanisms, Third Edition, Oxford University Press, 2003. DOI: 10.1115/1.1605769.
- [10] Szumowski M., Project and Development of Humanoid Robot Prototype. Bachelor of Science Thesis, The Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, 2014.
- [11] Vukobratovic M., Borovac B., “Zero – Moment Point – Thirty Five Years Of Its Life”, International Journal of Humanoid Robotics, 2004, vol. 1, no. 1, 157–173. DOI: 10.1142/S0219843604000083.
- [12] Zhang P. et al., “Adaptive Compliant Control of Humanoid Biped Foot with Elastic Energy Storage”. In: International Conference on Advanced Intelligent Mechatronics, Signapore, 2009. DOI:10.1109/AIM.2009.5229892.
- [13] Zielinska T. et al., “Robot gait synthesis using the scheme of human motions skills development”, Mechanism and Machine Theory, vol. 44, no. 3, 2008, 541–558. DOI: 10.1016/j.mechmachtheory.2008.09.007.
- [14] Zielinska T., Chmielniak A., “Biologically inspired motion synthesis method of twolegged robot with compliant feet”, Robotica, vol. 29, no. 7, 2011, 1049–1057. DOI:10.1017/S0263574711000300.
- [15] Zielinska T., Walking Machines. Principles, Design, Control and Biological Patterns Warsaw, Wydawnictwo Naukowe PWN, 2014.
- [16] Zurawska M., Analysis of Compliance in Two Legged Robot. Master Thesis, The Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, 2014.
Typ dokumentu
Bibliografia
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bwmeta1.element.baztech-f6d6e917-bf86-40a1-979e-e421ed8d7021