Locomotion control of biped robots with serially-linked parallel legs

Yoon, Jung Han; Park, Jong Hyeon

doi:10.3795/KSME-A.2010.34.6.683

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Locomotion control of biped robots with serially-linked parallel legs

Yoon, Jung Han;
Park, Jong Hyeon

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초록

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using SimMechanics®.

키워드

Asymmetric platform; Biped robot; Gravity-Compensated Inverted Pendulum Mode; Parallel mechanism; Serial mechanism; Biped Robot; Ground reaction forces; Inverted pendulum mode; Lateral directions; Locomotion control; Locomotion trajectory; Pad models; Parallel mechanisms; Parallel platforms; Serial mechanism; SimMechanics; Computer simulation; Mechanisms; Pendulums; Robots

제목: Locomotion control of biped robots with serially-linked parallel legs

저자: Yoon, Jung Han; Park, Jong Hyeon

DOI: 10.3795/KSME-A.2010.34.6.683

발행일: 2010-06

유형: Article

저널명: 대한기계학회논문집 A

권: 34

호: 6

페이지: 683 ~ 693