Abstract
In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints. The resulting simulation of robot locomotion is dynamically stable for both models at a small step length and short step time with relatively long damping pauses between the steps.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
Gazebo robot simulator, http://www.gazebosim.org.
- 2.
Willow Garage Robot Operating System (ROS)—Robotics middleware for robot software development, providing operating system-like functionality, ros.org.
- 3.
Android Technics (in Russian “Androidnaya Tehnika”) is a Russian company, which develops AR-600 robot series (including AR-601M and AR-603E models), http://en.npo-at.com/products/ar-600.
- 4.
Multibody Simulation—SimMechanics, www.mathworks.com/products/simmechanics/.
References
Wright, J., Jordanov, I.: Intelligent approaches in locomotion. In: International Joint Conference on Neural networks, pp. 1–8 (2012)
Khusainov, R., Shimchik, I., Afanasyev, I., Magid, E.: Toward a human-like locomotion: modelling dynamically stable locomotion of an anthropomorphic robot in simulink environment. In: 12th International Conference on Informatics in Control, Automation and Robotics, pp. 141–148 (2015)
Afanasyev, I., Sagitov, A., Magid, E.: ROS-based SLAM for a Gazebo-simulated mobile robot in image-based 3D model of indoor environment. In: Advanced Concepts for Intelligent Vision Systems, Springer International Publishing, pp. 273–283 (2015)
Stephens, B., Atkeson, C.: Modeling and control of periodic humanoid balance using the linear biped model. In: 9th IEEE-RAS International Conference on Humanoid Robots, pp. 379–384 (2009)
Erbatur, K., Seven, U.: An inverted pendulum based approach to biped trajectory generation with swing leg dynamics. In: 7th IEEE-RAS International Conference on Humanoid Robots, pp. 216–221 (2007)
Siciliano, B., Khatib, O.: Biped robots in the ZMP scheme. In: Springer Handbook of Robotics, pp. 371–377. Springer, Berlin (2008)
Garofalo, G., Ott, C., Albu-Schaffer, A.: Walking control of fully actuated robots based on the bipedal SLIP model. In: IEEE International Conference on Robotics and Automation, pp. 1456–1463 (2012)
Ketelaar, J., Visser, L., Stramigioli, S., Carloni, R.: Controller design for a bipedal walking robot using variable stiffness actuators. In: IEEE International Conference on Robotics and Automation, pp. 5650–5655 (2013)
Suzuki, S., Furuta, K., Pan, Y., Hatakeyama, S.: Biped walking robot control with passive walker model by new VSC servo. In: IEEE American Control Conference, vol. 1, pp. 107–112 (2001)
Iribe, M., Osuka, K.: A designing method of the passive dynamic walking robot via analogy with the phase locked loop circuits. In: IEEE International Conference on Robotics and Biomimetics, pp. 636–641 (2006)
Erbatur, K., Kurt, O.: Humanoid walking robot control with natural ZMP references. In: IEEE Annual Conference on Industrial Electronics, pp. 4100–4106 (2006)
Vukobratovich, M., Borovac, B.: Zero-moment point: thirty five years of its life. Int. J. Hum. Robot. 01, 157–173 (2004)
Magid, E., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Building a search tree for a pilot system of a rescue search robot in a discretized random step environment. J. Robot. Mechatron. 23, 567–581 (2011)
Denk, J., Schmidt, G.: Synthesis of walking primitive databases for biped robots in 3D-environments. In: IEEE International Conference on Robotics and Automation, vol. 1, pp. 1343–1349 (2003)
Magid, E., Ozawa, K., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Rescue robot navigation: static stability estimation in random step environment. In: Simulation, Modeling, and Programming for Autonomous Robots, pp. 305–316 (2008)
Atmeh, G., Ranatunga, I., Popa, D., Subbarao, K., Lewis, F., Rowe, P.: Implementation of an adaptive, model free, learning controller on the Atlas robot. In: IEEE American Control Conference, pp. 2887–2892 (2014)
Pinto, C.A., Superior, I., Porto, E., Golubitsky, M.: Central pattern generators for bipedal locomotion. J. Math. Biol. 53, 474–489 (2006)
Fukuoka, Y., Kimura, H., Cohen, A.H.: Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concept. Int. J. Robot. Res. 22, 187–202 (2003)
Feng, K., Chew, C.M., Hong, G.S., Zielinska, T.: Bipedal locomotion control using a four-compartmental central pattern generator. In: IEEE International Conference on Mechatronics and Automation, vol. 3, pp. 1515–1520 (2005)
Wu, Q., Liu, C., Zhang, J., Chen, Q.: Survey of locomotion control of legged robots inspired by biological concept. In: Science in China Series F: Information Sciences, vol. 52, pp. 1715–1729 (2009)
Kuffner, J., Nishiwaki, K., Kagami, S., Inaba, M., Inoue, H.: Motion planning for humanoid robots under obstacle and dynamic balance constraints. In: IEEE International Conference on Robotics and Automation, vol. 1, pp. 692–698 (2001)
Goldsmith, W.: Impact: The Theory and Physical Behaviour of Colliding Solids. Courier Dover Publications (2001)
Hunt, K.H., Crossley, F.R.E.: Coefficient of restitution interpreted as damping in vibroimpact. ASME J. Appl. Mech. 2, 440–445 (1975)
Acknowledgments
This research has been supported by Russian Ministry of Education and Science as a part of Scientific and Technological Research and Development Program of Russian Federation for 2014-2020 years (research grant ID RFMEFI60914X0004) and by Android Technics company, the industrial partner of the research.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Khusainov, R., Shimchik, I., Afanasyev, I., Magid, E. (2016). 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_16
Download citation
DOI: https://doi.org/10.1007/978-3-319-31898-1_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-31896-7
Online ISBN: 978-3-319-31898-1
eBook Packages: EngineeringEngineering (R0)