SURALP-L - The leg module of a new humanoid robot platform

SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this leg module. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and harmonic drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors and inertial measurement systems. The control hardware is centered around a dSpace digital signal processor. A smooth walking trajectory is generated. A ground impact compensator, an early landing trajectory modification system, controllers for the foot and trunk orientation, and independent joint position controllers are implemented. Experimental walking results with the leg module are obtained too.