Design and development of the biped prototype ROBIAN

Konno, Atsushi; Sellaouti, R.; Amar, Faïz Ben; Ouezdou, Fethi Ben

doi:10.1109/robot.2002.1014736

Cited by 33 publications

(22 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this paper, we focus only on the locomotion systems. Each leg has a total of seven DoFs [17], [18], three actuated DoFs for the hip, one actuated for the knee, two actuated for the ankle and one passive for the foot providing flexible feet. The total height of robot is 1.50 m, its weight is 30 kg, and modular design was developed.…”

Section: A Robot Walking Parametersmentioning

confidence: 99%

“…Another approach proposed by Sabourin et al [8], is based on a control strategy that allows the transition of velocities for the dynamic walk of an under actuated twodimensional robot without using a reference trajectory and by simple succession of active and passive phases. Tracking of optimal reference trajectories [17] [18] is based on the analysis of the variations of angles, velocity, and acceleration of human locomotion and trying to reproduce them on robots. This method has many drawbacks.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

State machine-based controller for walk-halt-walk transitions on a biped robot

Serhan

Hénaff

Nasr

et al. 2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

In this paper, we show how it is possible to obtain a walk -Standup -walk cycle with a biped robot using only a state machine controller. This work is a continuation of another in which the same approach was used to control the walking gait of the same robot. We introduce four critical angles that affect robot speed and step length. Our control approach consists of two control levels. The low level is a PID controller and the high level is a Dynamic Walking Algorithm, inspired from human locomotion, which tunes the PD controllers and im pose the reference signals based on the walking which increases walk stability. This method could be easily implemented in real time because it needs acceptable calculation time. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. We prove that we can maintain robot walking and stopping stability and walk cycle's repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one.

show abstract

Section: A Robot Walking Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

State machine-based controller for walk-halt-walk transitions on a biped robot

Serhan

Hénaff

Nasr

et al. 2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

show abstract

“…It walked with heel-contact and toe-off motion like human foot. ROBIAN [6] had one passive toe joint between the heel and toe. The foot had four touch points with ground which installed rubber pad.…”

Section: Introductionmentioning

confidence: 99%

Anti-skid foot design for a humanoid robot

She

Zhang

Huang

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

View full text Add to dashboard Cite

Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability. First, anti-skid foot for a humanoid robot is proposed in this paper. Second, the material and pattern of foot pads are selected. Finally, the better foot pads are chosen by several experiments and the effectiveness of the new foot pads is confirmed by comparison experiments.

show abstract

“…In addition, electric motors are proven to be easy to use and control. Significant examples of electrically actuated robots are: ASIMO [3], ROBIAN [4], HRP biped series [5], Johnnie and LOLA [6], REEM [7].…”

mentioning

confidence: 99%

Modeling and Simulation of a New Integrated Electrohydraulic Actuator for Humanoid Robots

Alfayad

Amrollah²,

Abdellatif

et al. 2016

IJARA

View full text Add to dashboard Cite

The work presented in this paper is an important step toward a better understanding of a compact hydraulic robotic actuator, based on the Integrated Electro-Hydraulic Actuator (IEHA) developed by Alfayad and Ouezdou [1]. The novel advantage of this actuator is being highly compact and autonomous (no need for central hydraulic source), while keeping a good power to weight ratio. In order to present and develop the working dynamics of this actuator, a highly detailed mathematical model for the system is presented. The proposed model is simulated using MATLAB-Simulink software to identify the effect of the internal system parameters on system dynamics and prepare an input-output test-bed model. Such test-bed model is used to obtain the transfer function of the system and its order. Analysis of the effects of the main parameters was carried out and a lower order of the system was identified. A linear model of the system is derived and validated using system identification technique. Finally, a robust motion controller is applied on the proposed linear model and the simulation results are presented. The distance between the shaft center + Piston contact point on the surface of the Housing [mm]; m: The end effectors mass [kg]; me: Mass of the carriage of the IEHA [kg]; N: Number of micropistons [−]; Prp: The pressure of the oil at the intake channel of the radial pump [bar]; Pc: The pressure difference between the two Cylinder chambers A and B [bar]; Ps: High pressure line [bar]; PA: Pressure in chamber A of the micro-pistons [bar]; PB: Pressure in chamber B of the micro-pistons [bar]; Pi: The micropistons of the IEHA [-]; Qmac: The average macroscopic flow of the N Micro-pistons [m3/s]; Qmic: The average microscopic flow of the N Micro-pistons [m3/s]; Qe: The flow from microvalve into the carriage Chambers [m3/s]; Qeleak: Leakage flow from the carriage micro-Pistons to the body of the actuator [m3/s]; Q: The flow from the micro-pump [m3/s]; QleakA: The leakage between the carriage and output Cylinder + the one between the hydraulic Chamber to the micro pumps body [m3/s]; Qpileak: The leakage flow of the micro-pistons in the Radial pump [m3/s]; Qleak: The internal leakage between the two Chambers of the cylinder [m3/s]; Rb: The radius of the carriage [mm]; rtig: The micro-valve radius [mm]; rrp: The radius of the in-out opening section of the micro-pump [mm]; Sc: The surface area of the linear hydraulic Cylinder's piston [cm2]; Se: The surface area of the carriage chambers [cm2]; Spi: The active area of a single piston [mm2]; V: Fluid volume [m3]; ve: The volume of the chamber of the carriage [m3]; vpi: The volume of the IEHA micro-pistons [m3]; vc: The volume of the chamber of the output Cylinder [m3]; X: Micro-valve input displacement [mm]; Y: The end effector (output load cylinder) Position [mm]; β: Bulk modulus of elasticity [MPa]; Ɵ: The angle between the piston and the Reference axe [degrees]; ω: Rotational speed of the shaft [rad/sec]; ρ: The density of the oil [kg/m3]; ζ: The actual pressure in the piston chamb...

show abstract

Design and development of the biped prototype ROBIAN

Cited by 33 publications

References 5 publications

State machine-based controller for walk-halt-walk transitions on a biped robot

State machine-based controller for walk-halt-walk transitions on a biped robot

Anti-skid foot design for a humanoid robot

Modeling and Simulation of a New Integrated Electrohydraulic Actuator for Humanoid Robots

Contact Info

Product

Resources

About