Title :
Dynamically Balanced Ascending Gait Generation of a Biped Robot Negotiating Staircase
Author :
Tushar ; Vundavilli, Pandu Ranga ; Pratihar, Dilip Kumar
Author_Institution :
Dept. of Mech. Eng., Indian Inst. of Technol., Kharagpur
Abstract :
Dynamically balanced staircase ascending gait generation problem of a 11-DOF biped robot has been solved utilizing an analytical approach. The swing foot and hip joint are assumed to follow cubic polynomial and straight line trajectories, respectively. The lower limbs´ gaits have been generated based on the concept of inverse kinematics and the trunk motion is decided based on static balance. The generated gait is verified for its dynamic balance. Lagrange-Euler method of solving the dynamics has been utilized to determine the torque requirement and power consumption at various joints. The performance of the developed approach has been tested through computer simulations.
Keywords :
gait analysis; legged locomotion; polynomials; robot kinematics; Lagrange-Euler method; biped robot negotiating staircase; cubic polynomial; dynamically balanced ascending gait generation; inverse kinematics; static balance; trunk motion; Computer simulation; Energy consumption; Foot; Hip; Kinematics; Lagrangian functions; Polynomials; Robots; Testing; Torque; Biped robot; Dynamically balanced gait; Lagrange-Euler method; Staircase ascending;
Conference_Titel :
Industrial and Information Systems, 2008. ICIIS 2008. IEEE Region 10 and the Third international Conference on
Conference_Location :
Kharagpur
Print_ISBN :
978-1-4244-2806-9
Electronic_ISBN :
978-1-4244-2806-9
DOI :
10.1109/ICIINFS.2008.4798359
