An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-stair Walking

An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-stair Walking

Title: An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-stair Walking

Abstract: Biped robots due to their highly similarity to human have the ability to move in different and non-ideal environments. However, they can easily become unstable by external disturbances. In order to keep the robot stable, it is necessary to satisfy contact constraints by foot components. The purpose of this research is to design a stable path for a planar robot to go up the stairs. The system of study is a biped planar robot with active joints that can move with specified speed. This model consists of a robot with seven degrees of freedom. At the beginning, the constraints related to each component of legs are formulated and then a path by considering history of movement circumscriptions is obtained by integration of accelerations terms and also constraints of dynamic equilibrium method (ZMP) is considered to it. Then by changing the trunk angle, a highly stable path is optimized and obtained that it has more accurate path and error function is reduced. Checking the accuracy of this method is carried out by computer simulation.

Keywords: Biped robot, Up-Stair walking, ZMP, Path designing, Robot simulation, Trunk angle.

Conference: ISME

Place: 
ISME
Date: 
2015