Title :
Gait planning and simulation of lateral motion for ROBONOVA-1 Robot
Author :
Zhu, Weibing ; Wang, Yanfei ; Zhou, Shengren
Author_Institution :
Sch. of Mech. Eng. & Autom., Xihua Univ., Chengdu, China
Abstract :
ROBONOVA-1 robot is a kind of new type humanoid robot, which can offer educators, students and robotic hobbyists a complete robot package. In order to better study and develop the function of this robot, according to the analysis of its configuration and gait, a seven bar linkage mechanism is established. The lateral walking trace of the robot is planned by using the method of geometry constraints. Cubic spline interpolation function method and MATLAB software are applied to obtain the motion trajectories of hip joint and ankle joint, and their motion simulation is realized in ADAMS software. From the simulation results, the robot can walk continuously. The correctness of the proposed method is demonstrated through the simulation results. The results lay the foundation for real-time gait control for ROBONOVA-1 robot.
Keywords :
gait analysis; humanoid robots; interpolation; path planning; position control; splines (mathematics); ADAMS software; MATLAB software; ROBONOVA-1 robot; cubic spline interpolation function method; gait planning; geometry constraints; humanoid robot; lateral motion trajectory; seven bar linkage mechanism; Hip; Joints; Leg; Legged locomotion; Planning; Robot kinematics; Gait planning; Robot; Spline interpolation; Trajectory;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554561
