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Employing a novel gait pattern generator on a social humanoid robot

Meghdari, A ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.24200/sci.2019.21358
  3. Publisher: Sharif University of Technology , 2019
  4. Abstract:
  5. This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot joint s' Cartesian coordinates. This method resulted in a significant increase in t he solution rate of calculations. Finally, a novel algorithm was developed for step-by-step displacement of the robot towards a desired destination in a two-dimensional space. Performance of the proposed gate pattern generator was evaluated both with a model of the robot in a MAT LAB Simulink environment and in real experiments with the Alice humanoid robot. ©2019 Sharif University of Technology. All rights reserved
  6. Keywords:
  7. Bipedal robots ; Gait pattern generating ; Static stability condition ; Anthropomorphic robots ; Degrees of freedom (mechanics) ; Gait analysis ; Inverse kinematics ; Bipedal robot ; Cartesian coordinate ; Gait pattern ; Numerical techniques ; SIMULINK environment ; Social robots ; Static stability ; Two dimensional spaces ; Inverse problems ; Algorithm ; Displacement ; Equipment ; Experimental study ; Kinematics ; Model ; Modeling ; Robotics ; Software ; Two-dimensional modeling
  8. Source: Scientia Iranica ; Volume 26, Issue 4A , 2019 , Pages 2154-2166 ; 10263098 (ISSN)
  9. URL: http://scientiairanica.sharif.edu/article_21358.html