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RISS 인기검색어
- 검색키워드
- 저자 : Aliza Che Amran (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Constant Pelvis Height ZMP-based Walking
Aliza Che Amran,Fariz Ali,Atsuo Kawamura 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Researchers introduced a constant center of mass walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions (case1). In this paper, case 2 proposes that if pelvis is made constant instead, energy usage could be reduced particularly at the leg joints. CoM-based kinematics methods are used to realize each case. Walking simulations of 0.22km/h are utilized for observations. In the simulation results, case 2 consumed almost 12% less in total energy consumption (electrical and mechanical) compared to case 1.
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Slope-Walking of a Biped Robot with Position and Orientation based Inverse Kinematics Method
Fariz Ali,Aliza Che Amran,Atsuo Kawamura 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper proposes a slope-walking strategy of a bipedal robot using position and orientation based inverse kinematics method. Some researchers implemented control approaches to solve this problem. Generally, they apply control feedback at ankle joints and introduced many more control methodologies. Several researchers used pelvis and foot trajectories without showing center of mass trajectory. In this paper, a constant center of mass height trajectory of a biped robot during slope walking is ensured. Inverse kinematics methodology is introduced systematically for bipedal walking on inclined floor. Positions and orientations are embedded into the kinematics calculation. In this strategy, walking pattern for flat floor must be developed first. Then, the same walking pattern can be used for the inclined floor with orientation included so that the bipedal robot is able to walk on the inclined floor successfully. This methodology will distribute the angles caused by the inclined surfaces to the appropriate robot joints. By doing this, control at ankle joints only is avoided. 3-D dynamics simulator, known as Robot Control Simulator is used for simulations in order to validate our proposed method. Simulations of biped walking on 11° slope with our proposed method have been done.
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