- Title
- Implementation and analysis of dynamic stability for bipedal robotic motion
- Creator
- Amos, Matthew; Middleton, Richard; Biddulph, Alexander; Mendes, Alexandre
- Relation
- 2020 IEEE Symposium Series on Computational Intelligence (SSCI). Proceedings of the 2020 IEEE Symposium Series on Computational Intelligence (SSCI) (Canberra, Australia 01-04 December, 2020) p. 1950-1957
- Publisher Link
- http://dx.doi.org/10.1109/ssci47803.2020.9308374
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2020
- Description
- This work presents the design and simulation of a stable balance and locomotion approach for a bipedal robot. The torque response of a falling body is modelled and a low-pass filter was designed and implemented for the angular position of actuators within the robot's legs. A torque control method is also described, akin to using proportional and derivative control of the angular position of the actuators. Finally, a Zero Moment Point based capture step is described and implemented within simulation. With torque control alone, the result is a stable bipedal recovery from disturbances along the saggital plane of up to 11.25N of force, from a standing pose. In comparison, the previous implementation without dynamic stability leads to the robot falling after a minor disturbance of 2N. When capture step is included in the approach, the robot can recover from disturbances of up to 45N. The codebase is open-source and provides a humanoid robot simulation platform for research teams working in this area.
- Subject
- bipedal walk; torque control; zero moment point; robotics; simulation
- Identifier
- http://hdl.handle.net/1959.13/1441866
- Identifier
- uon:41564
- Language
- eng
- Reviewed
- Hits: 673
- Visitors: 670
- Downloads: 0