WSEAS Transactions on Systems and Control


Print ISSN: 1991-8763
E-ISSN: 2224-2856

Volume 14, 2019

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.


Volume 14, 2019



Design of Biped Robot with Anthropomorphic Gait

AUTHORS: Lyubomira Miteva, Kamen Delchev, Kaloyan Yovchev, Evgeniy Krastev

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ABSTRACT: This research develops a biped robot and designs a new walking pattern in order to achieve dynamic gait stability. One of the most widely used methods for the synthesis of humanoid gait is the zero-moment point method, proposed by Vukobratović and Juričić. This method is investigated and evaluated through computer simulation of forward motion performed by a biped robot with 10 degrees of freedom. On the basis of the simulation results, a new walking model is proposed that is inspired by the human gait. The design of a real biped robot with 6 degrees is described in detail. The hardware and software components required for anthropomorphic gait synthesis and wireless control are evaluated in the execution of realistic use cases like forward and backward movement, left and right rotation and kicking a ball.

KEYWORDS: biped robot, anthropomorphic gait, zero moment point, stability, robot operating system, simulation

REFERENCES:

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[14] Aceves-López, Alejandro, and Alejandro Meléndez-Calderón, Human-inspired walkingstyle for a low-cost biped prototype. In 2006 IEEE 3rd Latin American Robotics Symposium, IEEE, 2006, pp. 141-148.

[15] Gupta, Aditya, and Abhishek Shamra. Modeling and Analysis of Walking Pattern for a Biped Robot, arXiv preprint arXiv:1508.02873, 2015.

[16] Servo Motor Controller Instructions for use, https://www.roboterbausatz.de/media/pdf/1b/a2/40/RBS11103- manual-english-V3-0.pdf

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[18] JOEY kicking a ball, https://youtu.be/1JmlSlQN3

WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 14, 2019, Art. #33, pp. 257-263


Copyright Β© 2019 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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