Modeling, simulation and experiment of human-like walking for bipedal robot

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Modeling, simulation and experiment of human-like walking for bipedal robot

 

Author: Shi, Chao
Title: Modeling, simulation and experiment of human-like walking for bipedal robot
Degree: M.Sc.
Year: 2016
Subject: Robotics.
Machinery, Kinematics of -- Computer simulation.
Machinery, Dynamics of -- Computer simulation.
Hong Kong Polytechnic University -- Dissertations
Department: Faculty of Engineering
Pages: xv, 129 pages : color illustrations
Language: English
InnoPac Record: http://library.polyu.edu.hk/record=b2842440
URI: http://theses.lib.polyu.edu.hk/handle/200/8350
Abstract: This paper presents a 3D simulation method in SimMechanics for a floating type robot, known as bipedal robot. According to the physical experimental bipedal robot built in our laboratory, a 3D model using the same physical parameters is developed in SolidWorks, which serves as a platform to be simulated and analyzed in Matlab. By performing the simulation, we can verify the methodologies to be applied, and test the robot kinematic and dynamic characteristics before the physical robot experiments are carried out, aiming at revealing the possible problems beforehand. Secondly, a ground contact model between soles and the ground and a model of distributed sole force sensors will be introduced for the purpose of ZMP (zero moment point) calculation. By modeling the distributed force sensor system attached to the bipedal robot feet, precise pressure profiles in different walking phases can be obtained during the simulation. ZMP, the point at which the total of horizontal inertia and gravity force on the robot body equals to zero, will be used for stability analysis. By applying the models and methods described above, a human-like straight line walking pattern will be chosen for stability analysis by applying ZMP criteria. The overall simulation results demonstrate that this 3D simulation method with distributed sole force sensor model is effective in analyzing the stability of the bipedal robot. For the given walking pattern, the bipedal robot in the simulation environment can walk stably satisfying all the constraints of the physical robot. Finally, the experiment on the physical robot is carried out to test the walking gait developed in the simulation.

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