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Investigation on ZMP Variation of 12-DoF Biped Robot in Screw Theory Framework

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Advances in Systems Engineering

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

Biped robots are the robots that reproduce human locomotion. Biped robots perform significantly in difficult terrains compared to wheeled robots because of their discrete surface contacts. These robots find wide variety of applications in fields such as medical rehabilitation, industries, disaster management, and defense. The two-legged walking is a highly nonlinear phenomenon and hence achieving stable locomotion is a major challenge in biped robot development. In this work, a 12-DoF biped robot is developed and dynamic stability of the robot for different foot trajectories is investigated using zero-moment point (ZMP) criterion. The kinematic modelling of biped robot is carried out using screw theory and the dynamic equations of motion are framed using recursive Newton–Euler (N–E) method. The stability of the biped robot while executing foot trajectories such as cycloid and Bezier curve is analyzed for single support phase (SSP).

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Institute of Technology Calicut, Kozhikode, 673601, India

    Navaneeth Varma, A. P. Sudheer & M. L. Joy

Authors
  1. Navaneeth Varma
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  2. A. P. Sudheer
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  3. M. L. Joy
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Correspondence to Navaneeth Varma .

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Editors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, India

    V. H. Saran

  2. Department of Electrical Engineering, Indian Institute of Technology (BHU) Varanasi, Varanasi, India

    Rakesh Kumar Misra

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Varma, N., Sudheer, A.P., Joy, M.L. (2021). Investigation on ZMP Variation of 12-DoF Biped Robot in Screw Theory Framework. In: Saran, V.H., Misra, R.K. (eds) Advances in Systems Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-8025-3_56

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  • DOI: https://doi.org/10.1007/978-981-15-8025-3_56

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-8024-6

  • Online ISBN: 978-981-15-8025-3

  • eBook Packages: EngineeringEngineering (R0)

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