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  • From Combliant Balancing To Dynamic Walking On Humanoid Robot

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    Sebastin Ashok
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    This document describes ongoing efforts to achieve compliant balancing and dynamic walking abilities on a humanoid robot. Researchers have integrated full-body taskspace force controllers with joint-space pattern generators to facilitate robust control and efficient online learning. This approach has enabled the creation of various compliant and stable motions. Experiments demonstrate compliant double/single-support balancing and quasi-static walking on uneven terrain without preset patterns, as well as fast and stable squat walking with introduced joint-space patterns.

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    IEEE34

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    This document describes ongoing efforts to achieve compliant balancing and dynamic walking abilities on a humanoid robot. Researchers have integrated full-body taskspace force controllers with joint-space pattern generators to facilitate robust control and efficient online learning. This approach has enabled the creation of various compliant and stable motions. Experiments demonstrate compliant double/single-support balancing and quasi-static walking on uneven terrain without preset patterns, as well as fast and stable squat walking with introduced joint-space patterns.

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    5 views3 pages

    From Combliant Balancing To Dynamic Walking On Humanoid Robot

    Uploaded by

    Sebastin Ashok
    This document describes ongoing efforts to achieve compliant balancing and dynamic walking abilities on a humanoid robot. Researchers have integrated full-body taskspace force controllers with joint-space pattern generators to facilitate robust control and efficient online learning. This approach has enabled the creation of various compliant and stable motions. Experiments demonstrate compliant double/single-support balancing and quasi-static walking on uneven terrain without preset patterns, as well as fast and stable squat walking with introduced joint-space patterns.

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    Attribution Non-Commercial (BY-NC)
    Download as DOC, PDF, TXT or read online from Scribd
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    FROM COMBLIANT BALANCING TO DYNAMIC WALKING ON HUMANOID ROBOT

    ABSTRACT: An embedded system is a special-purpose computer system designed to perform a dedicated function. Unlike a general-purpose computer, such as a personal computer, an embedded system performs one or a few pre-defined tasks, usually with very specific requirements. Since the system is dedicated to specific tasks, design engineers can optimize it, reducing the size and cost of the product. Embedded system comprises of both hardware and software. Embedded system is fast growing technology in various fields like industrial automation, home appliances, automobiles, aeronautics etc. Embedded technology is implemented to perform a specified task and the programming is done using assembly language programming or embedded C. Ours being a developing country the power consumption is increasing on large scale to meet the growing need of the people. Power generation is widely based on the non-renewable sources and these sources being depleting some means have to be found for power saving.

    DESCRIPTION : We present our ongoing effort to achieve compliant balancing to dynamic walking on our torque-controlled, human-sized, biped humanoid robot. Inspired by human musculoskeletal systems, our approach integrates full-body taskspaceforce controllers with joint-space pattern generators on the commanded joint torque output to facilitate robust control performance, as well as the efficient online learning. With this approach various compliant and stable motions have been created in a constructive manner. We demonstrate the effectiveness of our approach by two folds of experiments: 1)Compliant double / single-support balancing and quasi-static walking on uneven terrain, which do not require any joint patters, 2) Fast and stable squat and dynamic walking by introducing joint-space pattern generators.

    BLOCK DIAGRAM:

    POWER SUPPLY

    PC

    UART

    C O N T R O L L E R

    RELAY DRIVE

    ROBOTIC

    Hardware Requirements:
    Microcontroller Unit

    Power Supply

    PC

    Robotic model Driver Unit

    Software Requirements:
    Embedded C KEIL Compiler

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