Volume 3, Issue 3, December 2016, Pages 182 - 187
Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment
Authors
Ramil Khusainov, Ilya Afanasyev, Leysan Sabirova, Evgeni Magid
Corresponding Author
Ramil Khusainov
Available Online 1 December 2016.
- DOI
- 10.2991/jrnal.2016.3.3.9How to use a DOI?
- Keywords
- Biped robot, dynamic stability, Simulink, AR-601M robot
- Abstract
Control algorithms development for humanoid locomotion is difficult due to humanoid’s high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg joints and corresponding trajectories were verified against attainable robot motors’ values.
- Copyright
- © 2013, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Ramil Khusainov AU - Ilya Afanasyev AU - Leysan Sabirova AU - Evgeni Magid PY - 2016 DA - 2016/12/01 TI - Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment JO - Journal of Robotics, Networking and Artificial Life SP - 182 EP - 187 VL - 3 IS - 3 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.2016.3.3.9 DO - 10.2991/jrnal.2016.3.3.9 ID - Khusainov2016 ER -