Design of a 3DOF passive rotating platform for the adaptive motion planning of a single-legged robot

Author

Zhenli Lu

Author_Institution

Inst. of Electron. & Telematics Eng. of Aveiro, Univ. of Aveiro, Aveiro, Portugal

fYear

2013

fDate

24-24 April 2013

Firstpage

1

Lastpage

6

Abstract

A 3 DOF (Degrees Of Freedom) passive rotating platform and a simulator with position controller were developed as the stimulus input for a simulated single leg robot system to realize COP (Center Of Pressure) based motion control. The platform contains a board mounted on a tripod by a ball joint. A magnetic tracking sensor is mounted on the board to get the orientation of the rotating platform. The virtual reality tracking system records the rotating information of the platform in real time. According to the orientation of the real platform, the information of the magnetic sensor is used to control a simulated rotating platform. Using the real and virtual rotating platform systems, some experiments were carried out to realize the adaptive motion planning of the simulated single-legged robot.

Keywords

adaptive control; control system synthesis; magnetic sensors; mobile robots; motion control; path planning; position control; real-time systems; virtual reality; 3-degrees of freedom passive rotating platform; 3DOF passive rotating platform; COP-based motion control; adaptive motion planning; ball joint; center of pressure-based motion control; magnetic sensor information; magnetic tracking sensor; position controller; simulated single leg robot system; single-legged robot; virtual reality tracking system; virtual rotating platform systems; Joints; Legged locomotion; Magnetic sensors; Robot kinematics; Trajectory; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Robot Systems (Robotica), 2013 13th International Conference on

Conference_Location

Lisbon

Print_ISBN

978-1-4799-1246-9

Type

conf

DOI

10.1109/Robotica.2013.6623537

Filename

6623537