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Please use this identifier to cite or link to this item: http://dspace.ucuenca.edu.ec/handle/123456789/31930
Title: a simple mapping methodology of gait biomechanics for walking control of a biped robot
Authors: Minchala Avila, Luis Ismael
Astudillo Salinas, Darwin Fabian
Vazquez Rodas, Andres Marcelo
Keywords: Biped
Control
Gait
Robot
Issue Date: 2018
metadata.dc.ucuenca.embargoend: 19-Dec-2050
metadata.dc.ucuenca.volumen: noviembre 2018
metadata.dc.source: Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
metadata.dc.identifier.doi: 10.1109/INTERCON.2018.8526395
Publisher: Institute of Electrical and Electronics Engineers Inc.
metadata.dc.description.city: 
Lima
metadata.dc.type: ARTÍCULO DE CONFERENCIA
Abstract: 
This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms. © 2018 IEEE.
Description: 
This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms. © 2018 IEEE.
URI: http://dspace.ucuenca.edu.ec/handle/123456789/31930
https://www.scopus.com/record/display.uri?eid=2-s2.0-85058030370&doi=10.1109%2fINTERCON.2018.8526395&origin=inward&txGid=ef910d36df5d1dcb6806c4980521a139
metadata.dc.ucuenca.urifuente: https://ieeexplore.ieee.org/document/8526395/authors#authors
ISBN: 978-153865490-3
ISSN: 0000-0000
Appears in Collections:Artículos

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