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

Part of the Lecture Notes in Electrical Engineering book series (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.

Keywords

  • Biped robot
  • Robot locomotion
  • Walking primitives
  • Dynamic stability
  • Modelling
  • Simulink
  • AR-601M robot

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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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Correspondence to Evgeni Magid .

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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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