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Quasi-inverse pendulum model of 12 DoF bipedal walking

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Abstract

This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulum (QIP) model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure (CoP). To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor (FSR) sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic (FK) and inverse kinematic (IK) investigations of the biped model where Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.

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Acknowledgement

Authors would like to express their gratitude to the Ministry of Higher Education (MOHE), Malaysia in funding the project through the MyRA Incentive Grant Scheme (MIRGS), MIRGS 13-02-001-0001.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, Kulliyyah of Engineering, International Islamic University Malaysia, Kuala Lumpur, 53100, Malaysia

    M. Akhtaruzzaman, Amir A. Shafie & Md. Raisuddin Khan

Authors
  1. M. Akhtaruzzaman
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  2. Amir A. Shafie
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  3. Md. Raisuddin Khan
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Corresponding author

Correspondence to M. Akhtaruzzaman.

Additional information

This works was supported by Ministry of Higher Education, Malaysia through the MyRA Incentive Grant Scheme (No.MIRGS 13-02-001-0001).

Recommended by Associate Editor Hong-Nian Yu

M. Akhtaruzzaman received the B. Sc. degree in computer science and engineering (CSE) from International Islamic University Chittagong (IIUC), Bangladesh in 2005. He received the M. Sc. degree in mechatronics engineering (MCT) from Engineering, International Islamic University Malaysia (IIUM), Malaysia in 2012. He is a Ph. D. degree candidate in mechatronics engineering, Kulliyyah of IIUM, Malaysia. He has published several papers in the area of modeling and control, robotics, and mechatronics system design.

His research interests include modeling and control of mechatronics systems, biped robot, and rehabilitation engineering.

ORCID iD: 0000-0002-9929-4066

Amir A. Shafie received the B.Eng. degree (Hons) in mechanical engineering from the University of Dundee, UK, and M. Sc. degree in mechatronics from University of Abertay Dundee, UK. He has been conferred a doctorate in the field of artificial intelligence by University of Dundee, UK in 2000. He is currently attached to International Islamic University Malaysia as associate professor after serving in industry as industrial researcher. He has been principal researcher for various research projects mainly in the area of autonomous mechatronic system which aims to develop intelligent robotic system for industrial and other applications.

His research interests include machine control, biologicallyinspired robot, surveillance system, image processing and computer vision.

Md. Raisuddin Khan received the B. Sc. degree in mechanical engineering from Rajshahi University of Engineering and Technology (RUET), Bangladesh in 1983, and received the M. Sc. degree in mechanical engineering from the same University, in 1988. He received the Ph.D. degree in mechanical engineering from Bangladesh University of Engineering and Technology (BUET), Bangladesh in 1996. He is currently attached with International Islamic University Malaysia as an associate professor. He has a prominent number of publications including journals, books, book chapters, and conferences. He was also awarded several national and international awards as the recognition of his remarkable works.

His research interests include bio-inspired robot, robot assistive systems, vibration, stress, and stability of structure.

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Akhtaruzzaman, M., Shafie, A.A. & Khan, M.R. Quasi-inverse pendulum model of 12 DoF bipedal walking. Int. J. Autom. Comput. 14, 179–190 (2017). https://doi.org/10.1007/s11633-016-1023-1

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  • DOI: https://doi.org/10.1007/s11633-016-1023-1

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