Title of article :
Employing a novel gait pattern generator on a social humanoid robot
Author/Authors :
Meghdari, A School of Mechanical Engineering - Sharif University of Technology, Tehran , Behzadipour, S School of Mechanical Engineering - Sharif University of Technology, Tehran , Abedi, M School of Mechanical Engineering - Sharif University of Technology, Tehran
Abstract :
This paper presents a novel Gait Pattern Generator (GPG) developed for the
/Alice" social humanoid robot, which up to now lacked an appropriate walking pattern.
Due to the limitations of this robot, the proposed gate pattern generator was formulated
based on a nine-mass model to decrease the modeling errors and the inverse kinematics of
the whole lower-body was solved in such a way that the robot remained statically stable
during the movements. The main challenge of this work was to solve the inverse kinematics
of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical
technique has been provided using the denition of the kinematic equations of the robot
joints' Cartesian coordinates. This method resulted in a signicant increase in the solution
rate of calculations. Finally, a novel algorithm was developed for step-by-step displacement
of the robot towards a desired destination in a two-dimensional space. Performance of
the proposed gate pattern generator was evaluated both with a model of the robot in a
MATLAB Simulink environment and in real experiments with the Alice humanoid robot.
Keywords :
Social robots , Bipedal robots , Gait pattern generating , Inverse kinematics , Static stability condition
Journal title :
Scientia Iranica(Transactions A: Civil Engineering)
