Advanced Humanoid Robot Based on the Evolutionary Inductive Self-organizing Network
نویسندگان
چکیده
The bipedal structure is one of the most versatile ones for the employment of walking robots. The biped robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacle etc, where a human lives. However, the dynamics involved are highly nonlinear, complex and unstable. So it is difficult to generate human-like walking motion. To realize human-shaped and human-like walking robots, we call this as humanoid robot, many researches on the biped walking robots have been reported [1-4]. In contrast to industrial robot manipulators, the interaction between the walking robots and the ground is complex. The concept of the zero moment point (ZMP) [2] is known to give good results in order to control this interaction. As an important criterion for the stability of the walk, the trajectory of the ZMP beneath the robot foot during the walk is investigated [1-7]. Through the ZMP, we can synthesize the walking patterns of humanoid robot and demonstrate walking motion with real robots. Thus ZMP is indispensable to ensure dynamic stability for a biped robot. The ZMP represents the point at which the ground reaction force is applied. The location of the ZMP can be obtained computationally using a model of the robot. But it is possible that there is a large error between the actual ZMP and the calculated one, due to the deviations of the physical parameters between the mathematical model and the real machine. Thus, actual ZMP should be measured to realize stable walking with a control method that makes use of it. In this chapter, actual ZMP data throughout the whole walking phase are obtained from the practical humanoid robot. And evolutionary inductive self-organizing network [8-9] is applied. So we obtained natural walking motions on the flat floor, some slopes, and uneven floor.
منابع مشابه
Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot
In this paper, we present a new approach to realize whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot. We, therefore, equipped the whole upper body of the humanoid HRP-2 with various patches of CellulARSkin – a modular artificial skin. In order to automatically handle a potentially high number of tactile sensor cells andmotors units, the rob...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملAnalytical Dynamic Modelling of Heel-off and Toe-off Motions for a 2D Humanoid Robot
The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...
متن کاملStudy of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...
متن کاملA Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کامل