Abstract
Balancing of a biped robot plays an important role, as it has to walk on two feet while moving from one place to another to execute the task assigned to it. The present research paper is mainly focusing on the study of influence of hip trajectory on the balance of an 18-DOF biped robot in single support phase (SSP) while walking on the flat floor. Two different types of trajectories, namely straight line and particle swarm-based cubic polynomial are considered for the hip joint. The gaits for the lower and upper limbs of the robot are generated by using the concept of inverse kinematics after considering the said options for the hip trajectory. The balance of the robot is determined by calculating the Dynamic Balance Margin (DBM) of the generated gait. Further, the two developed approaches are tested for their capability to generate dynamically balanced gaits in computer simulations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Vukobratovic M, Frank AA, Juricic D (1970) On the stability of biped locomotion. IEEE Trans Biomed Eng BME 17(1):25–36
Gowsami A (1999) Foot rotation indicator point: a new agit planning tool to evaluate postural stability of biped robots. In: Proceedings of IEEE international. conference of robotics and automation, Detroit, Michigan, May 1999, pp 47–52
Huang Q, Yokoi K, Kajita S, Kaneko K, Arai H, Koyachi N, Tanie K (2001) Planning walking patterns for a biped robot. IEEE Trans Robot Autom 17(3):280–289
Chow CK, Jacobson DH (1971) Studies of locomotion via optimal programming. Math Biosci 10:239–306
Hwang SW, Yeon JS, Park JH (2013) Trajectory generation method for biped robots to climb up an inclined surface. In: IEEE international conference on robotics, Oct-2013, pp 1–5
Udai AD (2008) Optimum hip trajectory generation of a biped robot during single support phase using genetic algorithm. In: IEEE international conference on emerging trends in engineering technology, pp 739–744
Vundavilli PR, Pratihar DK (2008) Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces. Appl Soft Comput 9:191–208. Elsevier
Vundavilli PR, Pratihar DK (2010) Dynamically balanced optimal gaits of a ditch-crossing biped robot, vol 58, no. 4, pp 349–361
Rodrigues L, Prado M, Travares P, da Silva K, Rosa A (1996) Simulation and control of biped locomotion—GA optimization. In: Proceedings of IEEE international conference on evolutionary computation, pp 390–395
Kim JW (2014) Online joint trajectory generation of human-like biped walking. Int J Adv Robot Syst INTECH
Haun TT, Anh HPH (2015) Novel stable walking for humanoid robot using particle swarm optimization algorithm. In: International conference on artificial intelligence and industrial engineering, pp 322–325
Kennedy J, Eberhart R (1995) Particle swarm optimization. In: Proceedings of IEEE international conference on neural networks, Perth, 27 November–1 December 1995, pp 1942–1948. doi:10.1109/ICNN.1995.488968
Acknowledgments
The authors thank IIT Bhubaneswar, India for sponsoring this project under seed money grant.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Science+Business Media Singapore
About this paper
Cite this paper
Mandava, R.K., Vundavilli, P.R. (2017). Study on Influence of Hip Trajectory on the Balance of a Biped Robot. In: Attele, K., Kumar, A., Sankar, V., Rao, N., Sarma, T. (eds) Emerging Trends in Electrical, Communications and Information Technologies. Lecture Notes in Electrical Engineering, vol 394. Springer, Singapore. https://doi.org/10.1007/978-981-10-1540-3_28
Download citation
DOI: https://doi.org/10.1007/978-981-10-1540-3_28
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-1538-0
Online ISBN: 978-981-10-1540-3
eBook Packages: EngineeringEngineering (R0)