KFU. Card publication. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability

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ANTHROPOMORPHIC ROBOT MODELLING WITH VIRTUAL HEIGHT INVERTED PENDULUM APPROACH IN SIMULINK: STEP LENGTH AND PERIOD INFLUENCE ON WALKING STABILITY

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2016

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Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Khusainov R., Afanasyev I., Magid E. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability // ICAROB 2016 - International Conference on Artificial Life and Robotics (Ginowan, Japan; 29-31 January 2016) - p. 208-211.

Annotation

Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)

Keywords

bipedal robot, dynamic stability, Simulink, AR-601M robot

The name of the journal

Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=149754&p_lang=2

Resource files

File name	Size (MB)	Format
2016_Anthropomorphic_robot_modelling_with_virtual_height_inverted.pdf	0,50	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Khusainov R., Afanasyev I., Magid E. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability // ICAROB 2016 - International Conference on Artificial Life and Robotics (Ginowan, Japan; 29-31 January 2016) - p. 208-211.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=149754&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)	ru_RU
dc.description.abstract	Humanoid stable walking is a complex task due the high number of degrees of freedom, system nonlinearity and relatively small size of robot footprint. Biped robots tend to fall down as walking speed increases or when the terrain conditions change. This paper presents dynamically stable walking modelling of Russian humanoid AR-601M in Simulink environment with virtual height inverted pendulum model (VHIPM), an effective and simple trajectory generation method based on inverted pendulum model (IPM). This algorithm adjusts height of the center of mass in IPM model to reduce ZMP error and guarantees stable locomotion up to some critical speed. We investigate influence of the step length and step period on walking stability. Maximum torque values in leg joints are estimated in order to verify if such trajectories are attainable by robot motors. We demonstrate that the robot model is capable to achieve significant walking speeds on flat surfaces using this method.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	bipedal robot	ru_RU
dc.subject	dynamic stability	ru_RU
dc.subject	Simulink	ru_RU
dc.subject	AR-601M robot	ru_RU
dc.title	Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU