A NOVEL MODEL BASED ON THE THREE-MASS INVERTED PENDULUM FOR REAL-TIMEWALKING PATTERN GENERATION OF BIPED ROBOTS

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ESLAMI MOSTAFA; YOUSEFI KOMA AGHIL; KHADIV MAJID

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:8 Page(s): 0-0

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Title

A NOVEL MODEL BASED ON THE THREE-MASS INVERTED PENDULUM FOR REAL-TIMEWALKING PATTERN GENERATION OF BIPED ROBOTS

Author(s)

ESLAMI MOSTAFA | YOUSEFI KOMA AGHIL | KHADIV MAJID | Issue Writer Certificate

Keywords

HUMANOID ROBOTQ1

REAL-TIME PATTERN WALKING GENERATIONQ1

THREE-MASS INVERTED PENDULUM MODELQ1

Abstract

In this paper, to improve the accuracy of the one-mass and THREE-MASS INVERTED PENDULUM MODELs, which have been used for generating real-time walking patterns for biped robots, we propose a novelmodel based on the three-mass inverted pendulum. The proposed model employs an approximation ofmoment of inertia of the swing leg to improve the accuracy of the three-mass inverted pendulum inestimating dynamic behavior of the robot. In order to show the significance of the proposed model, trajectories for the Center of Mass (CoM) are obtained using the three models, based on a desired ZMPtrajectory. The task space trajectories are then mapped into the joint space, using inverse kinematics.Having the joint space variables, the actual ZMPs for the three obtained walking patterns are computedand compared. This comparison shows the advantages of the proposed model in estimating dynamicbehavior of the robot well, especially for walking with relatively high speeds. The kinematic anddynamic properties of the models in this paper are based on the HUMANOID ROBOT SURENA III, whichhas been designed and fabricated in the Center of Advanced Systems and Technologies (CAST), University of Tehran.

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APA: Copy

ESLAMI, MOSTAFA, YOUSEFI KOMA, AGHIL, & KHADIV, MAJID. (2016). A NOVEL MODEL BASED ON THE THREE-MASS INVERTED PENDULUM FOR REAL-TIMEWALKING PATTERN GENERATION OF BIPED ROBOTS. MODARES MECHANICAL ENGINEERING, 16(8), 0-0. SID. https://sid.ir/paper/356222/en

Vancouver: Copy

ESLAMI MOSTAFA, YOUSEFI KOMA AGHIL, KHADIV MAJID. A NOVEL MODEL BASED ON THE THREE-MASS INVERTED PENDULUM FOR REAL-TIMEWALKING PATTERN GENERATION OF BIPED ROBOTS. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(8):0-0. Available from: https://sid.ir/paper/356222/en

IEEE: Copy

MOSTAFA ESLAMI, AGHIL YOUSEFI KOMA, and MAJID KHADIV, “A NOVEL MODEL BASED ON THE THREE-MASS INVERTED PENDULUM FOR REAL-TIMEWALKING PATTERN GENERATION OF BIPED ROBOTS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 8, pp. 0–0, 2016, [Online]. Available: https://sid.ir/paper/356222/en

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