KFU. Card publication. 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment

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3D MODELLING OF BIPED ROBOT LOCOMOTION WITH WALKING PRIMITIVES APPROACH IN SIMULINK ENVIRONMENT

Form of presentation

International monographs

Year of publication

2016

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev, and Evgeni Magid. 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In Lecture Notes in Electrical Engineering (LNEE), vol.383(30), In Informatics in Control, Automation and Robotics 12th International Conference 2015, revised selected papers, Springer International Publishing, 2016, pp. 287-304

Annotation

In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints.

Keywords

Biped robot, Robot locomotion, Walking primitives, Dynamic stability, Modelling, Simulink, AR-601M robot

URL

http://link.springer.com/chapter/10.1007/978-3-319-31898-1_16

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

https://repository.kpfu.ru/eng/?p_id=150435&p_lang=2

Full metadata record

Field DC	Value	Language
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	Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev, and Evgeni Magid. 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In Lecture Notes in Electrical Engineering (LNEE), vol.383(30), In Informatics in Control, Automation and Robotics 12th International Conference 2015, revised selected papers, Springer International Publishing, 2016, pp. 287-304	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=150435&p_lang=2	ru_RU
dc.description.abstract	In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Biped robot	ru_RU
dc.subject	Robot locomotion	ru_RU
dc.subject	Walking primitives	ru_RU
dc.subject	Dynamic stability	ru_RU
dc.subject	Modelling	ru_RU
dc.subject	Simulink	ru_RU
dc.subject	AR-601M robot	ru_RU
dc.title	3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment	ru_RU
dc.type	International monographs	ru_RU