TY - GEN
T1 - Legged Robots with Human Morphology
T2 - 2019 International Conference on Signal, Control and Communication, SCC 2019
AU - Zaier, Riadh
AU - Dirdiry, Omer
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - This paper presents the design and control of a bio-inspired legged robot with a passive toe joint. This legged robot will be utilized to study human gait and particularly pathological gaits. Hence, the leg structure is designed so that it can generate a similar gait of that of human. In addition, the parts of the legs need to be made of light materials mainly, aluminum and carbon fiber. The locomotion control of the legged robot is designed so that the overall control system with respect to the rolling motion is approximated by the Van der Pol oscillator. The controlled plant, in this case, is modeled as an inverted pendulum. Few control parameters are introduced to modulate the rolling motion and make it adaptive with the stride. The parameters of the locomotion controller can be tuned so that the closed loop system exhibits a stable limit cycle. The controller is then evaluated throughout simulation results using a full model of the biomechanical legs. To validate the simulation model, the Zero Moment Point (ZMP) method is utilized. The ZMP locations are obtained using the parameters of the full simulation model and compared with that of the measured ZMP using the ground reaction forces.
AB - This paper presents the design and control of a bio-inspired legged robot with a passive toe joint. This legged robot will be utilized to study human gait and particularly pathological gaits. Hence, the leg structure is designed so that it can generate a similar gait of that of human. In addition, the parts of the legs need to be made of light materials mainly, aluminum and carbon fiber. The locomotion control of the legged robot is designed so that the overall control system with respect to the rolling motion is approximated by the Van der Pol oscillator. The controlled plant, in this case, is modeled as an inverted pendulum. Few control parameters are introduced to modulate the rolling motion and make it adaptive with the stride. The parameters of the locomotion controller can be tuned so that the closed loop system exhibits a stable limit cycle. The controller is then evaluated throughout simulation results using a full model of the biomechanical legs. To validate the simulation model, the Zero Moment Point (ZMP) method is utilized. The ZMP locations are obtained using the parameters of the full simulation model and compared with that of the measured ZMP using the ground reaction forces.
KW - Biomechanical legs
KW - Central Pattern Generator
KW - Limit cycle
KW - Van der Pol Oscillator
KW - nonlinear controller
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U2 - 10.1109/SCC47175.2019.9116106
DO - 10.1109/SCC47175.2019.9116106
M3 - Conference contribution
AN - SCOPUS:85089588479
T3 - 2019 International Conference on Signal, Control and Communication, SCC 2019
SP - 302
EP - 307
BT - 2019 International Conference on Signal, Control and Communication, SCC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 December 2019 through 18 December 2019
ER -