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3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment

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Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 383))

Abstract

In the past decades bipedal robots related research gained significant attention as the technology progresses towards acceptable humanoid robot assistants. Serious challenges of human-like biped robot locomotion include such issues as obtaining a human gait multi-functionality, energy efficiency and flexibility. In this paper we present Russian biped robot AR-601M and its locomotion modelling in Simulink environment using walking primitives approach. We consider two robot models: with 6 and 12 Degrees of Freedom (DoFs) per legs, using the same walking strategies. While the 6-DoF model is constrained to move only in sagittal plan, the 12-DoF model supports 3D motion and precisely reflects the hardware of AR-601M robot legs. The locomotion algorithm utilizes position control and involves inverse kinematics computations for the joints. The resulting simulation of robot locomotion is dynamically stable for both models at a small step length and short step time with relatively long damping pauses between the steps.

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Notes

  1. 1.

    Gazebo robot simulator, http://www.gazebosim.org.

  2. 2.

    Willow Garage Robot Operating System (ROS)—Robotics middleware for robot software development, providing operating system-like functionality, ros.org.

  3. 3.

    Android Technics (in Russian “Androidnaya Tehnika”) is a Russian company, which develops AR-600 robot series (including AR-601M and AR-603E models), http://en.npo-at.com/products/ar-600.

  4. 4.

    Multibody Simulation—SimMechanics, www.mathworks.com/products/simmechanics/.

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Acknowledgments

This research has been supported by Russian Ministry of Education and Science as a part of Scientific and Technological Research and Development Program of Russian Federation for 2014-2020 years (research grant ID RFMEFI60914X0004) and by Android Technics company, the industrial partner of the research.

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Authors and Affiliations

  1. Intelligent Robotic Systems Laboratory (LIRS), Innopolis University, Universitetskaya street 1, Innopolis, Russian Federation

    Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev & Evgeni Magid

Authors
  1. Ramil Khusainov
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  2. Ilya Shimchik
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  3. Ilya Afanasyev
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  4. Evgeni Magid
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Corresponding author

Correspondence to Evgeni Magid .

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Editors and Affiliations

  1. Polytechnic Institute of Setúbal, Setubal, Portugal

    Joaquim Filipe

  2. Vitry sur Seine, France

    Kurosh Madani

  3. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Khusainov, R., Shimchik, I., Afanasyev, I., Magid, E. (2016). 3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_16

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  • DOI: https://doi.org/10.1007/978-3-319-31898-1_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31896-7

  • Online ISBN: 978-3-319-31898-1

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