Design and Development of the I.T.U. Biped Robot
Year 2018,
Volume: 31 Issue: 1, 251 - 271, 01.03.2018
Zeki Yağız Bayraktaroğlu
Mesut Acar
Alper Gerçek
Numan Mert Tan
Abstract
This paper presents the design and construction of a 12-DoF biped walking robot. The kinematics of electrically actuated 6-DoF legs is similar to that of human legs with three DoF at the hip, one at the knee and two at the ankle joints. The mechanical design of the robot was based on dynamical simulations realized in a modular PC environment. Two communicating software were used in order to solve the forward dynamics of the system and to design walking controllers. Forward, backward and lateral walking as well as stair climbing behaviors with up to 6 km/h forward walking speeds have been simulated in order to determine the nominal power rates required at joints. Hip joints are actuated by DC motors coupled to harmonic reducers situated both in joint axes. The actuators driving the knee and ankle joints are situated higher than the respective joint axes and the rotational output motion of DC motors are transmitted to the joints through linear ball-screw mechanisms. Spherical joints are used within the transmission of spatial motion required for the 2-DoF at ankle joints. All joints consist of absolute encoders and 6-axes force/torque transducers are mounted at the ankle joints. The robot is controlled through an embedded industrial PC running real-time operating system. All electronic control hardware including the motor drivers and sensors communicate through CAN bus. The robot’s mass without batteries is 55 kg and its height is 142 cm.
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Year 2018,
Volume: 31 Issue: 1, 251 - 271, 01.03.2018
Zeki Yağız Bayraktaroğlu
Mesut Acar
Alper Gerçek
Numan Mert Tan
References
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- [4] Inoue, H., Tachi, S., Nakamura, Y., Hiari, K., “Overview of Humanoid Robotics Project of METI”, Proceedings of the International Symposium on Robotics, Seoul, Korea, 1478–1482, (2001).
- [5] Kaneko, K., Kanehiro, F., Kajita, S., Yokoyama, K., Akachi, K., Kawasaki, T., Ota, S., Isozumi, T., “Design of Prototype Humanoid Robotics Platform for HRP”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots, Lausanne, Switzerland, 3: 2431–2436, (2002).
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- [7] Akachi, K., Kaneko, K., Kanehira, N., Ota, S., Miyamori, G., Hirata, M., Kajita, S., Kanehiro, F., “Development of Humanoid Robot HRP-3P”, Proceedings of the IEEE RAS International Conference on Humanoid Robots, Tsukuba, Japan, 50–55, (2005).
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- [14] Lohmeier, S., Buschmann, T., Ulbrich, H., Pfeiffer, F., “Modular Joint for Performance Enhanced Humanoid Robot Lola”, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, 88–93, (2006).
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- [16] Erbatur, K., Seven, U., Taskiran, E., Koca, O., Yilmaz, M., Unel, M., Kiziltas, G., Sabanovic, A., Onat A., “SURALP: a new full-body humanoid robot platform”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots, Saint Louis, USA, 4949–4954, (2009).
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- [18] Wisse, M., Schwab, A., “First steps in passive dynamic walking”, Proceedings of the Climbing and Walking Robots, London, UK, VII, 745–756, (2005).
- [19] Espiau, B., Sardain, P., “The anthropomorphic biped robot BIP2000”, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA, 4: 3996–4001, (2000).
- [20] Konno, A., Sellaouti, R., Ben Amar, F., Ben Ouezdou, F., “Design and Development of the Biped Prototype ROBIAN”, Proceedings of the IEEE International Conference on Robotics and Automation, Washington D.C., USA, 1384–1389, (2002).
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- [22] Chevallereau, C., Bessonet, G., Abba, G., Aoustin, Y., “Bipedal Robots: Modeling, Design and Walking Synthesis”, Wiley-ISTE, (2008).
- [23] Gubina, F., Hamami, H., McGhee, R.B., “On the Dynamic Stability of Biped Locomotion”, IEEE Transactions on Biomedical Engineering, (21)2: 102–108, (1974).
- [24] McGhee, R.B., “Principles of Walking and Running”, in Advances in Comparative and Environmental Physiology, 11, Springer-Verlag, Berlin, (1992).
- [25] Vukobratovic, M., Borovac, B., Surla, D., Stokic, D., “Biped Locomotion”, Springer-Verlag, Berlin, (1990).
- [26] Potkonjak, V., Vukobratovic, M., Babkovic, K., Borovac, B., “Human and Humanoid Dynamics”, Journal of Intelligent and Robotic Systems, 41: 65–84, (2004).
- [27] Vukobratovic, M., Potkonjak, V., Tzafestas, S., “General Model of Dynamics of Human and Humanoid Motion: Feasibility, Potentials and Verification”, International Journal of Humanoid Robotics, 3(1): 21–47, (2006).
- [28] Takanishi, A., Hun-ok, L., Tsuda, M., Kato, I., “Realization of Dynamic Biped Walking Stabilized By Trunk Motion on a Sagittally Uneven Surface”, Proceedings of the IEEE International Workshop on Intelligent Robots and Systems, 1: 323–330, (1990).
- [29] Yamaguchi, I., Takanishi, A., Kato, I., “Development of a Biped Walking Robot Compensation for Three-Axis Moment by Trunk Motion”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots, Tokyo, Japan, 192–200, (1993).
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- [31] Shih, C.L., Gruver, W.A., “Control of a Biped Robot in the Double-Support Phase”, IEEE Transactions on Systems Man and Cybernetics, 22: 729–735, (1992).
- [32] Shih, C.L., Gruver, W.A., Lee, T.T., “Inverse Kinematics and Inverse Dynamics for Control of Biped Walking Machine”, Journal of Robotic Systems, 10(4): 531–555, (1993).
- [33] Shih, C.L., “The dynamics and control of a biped walking robot with seven degrees of freedom”, ASME Journal of Dynamical Systems Measurement and Control, 118: 683–690, (1996).
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- [35] Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., Hirukawa, H., “Biped walking pattern generation by a simple three-dimensional inverted pendulum model”, Advanced Robotics, 17(2): 131–147, (2003).
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- [40] Choi, Y., Kim, D., You, Y.J., “On the Walking Control for Humanoid Robot based on Kinematic Resolution of CoM Jacobian with Embedded Motion”, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, 2655–2660, (2006).
- [41] Choi, Y., Kim, D., Oh, Y., You, Y.J., “Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion”, IEEE Transactions on Robotics and Automation, 23(6): 1285–1293, (2007).
- [42] Acar, M., Gercek, A., Tasasiz, B., Bayraktaroglu, Z.Y., Kocabas, H., “Design of a 12-DoF Biped Robot”, Proceedings of the International Conference on Recent Achievements in Mechatronics, Automation, Computer Science and Robotics, Tirgu-Mures, Romania, 215–226, (2010).
- [43] Luh, J.Y.S., Walker, M.W., Paul, R.P.C., “On-line Computational Scheme for Mechanical Manipulators”, ASME Journal of Dynamical Systems Measurement and Control, 102(2): 69–76, (1980).