Publication:
A simple mapping methodology of gait biomechanics for walking control of a biped robot

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dc.contributor.authorMinchala Ávila, Luis Ismael
dc.contributor.authorAstudillo Salinas, Darwin Fabián
dc.contributor.authorVázquez Rodas, Andrés Marcelo
dc.contributor.ponenteAstudillo Salinas, Darwin Fabián
dc.date.accessioned2019-02-06T16:54:54Z
dc.date.available2019-02-06T16:54:54Z
dc.date.issued2018
dc.descriptionThis 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.
dc.description.abstractThis 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.
dc.description.cityLima
dc.identifier.doi10.1109/INTERCON.2018.8526395
dc.identifier.isbn978-153865490-3
dc.identifier.issn0000-0000
dc.identifier.urihttp://dspace.ucuenca.edu.ec/handle/123456789/31930
dc.identifier.urihttps://www.scopus.com/record/display.uri?eid=2-s2.0-85058030370&doi=10.1109%2fINTERCON.2018.8526395&origin=inward&txGid=ef910d36df5d1dcb6806c4980521a139
dc.language.isoes_ES
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.sourceProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
dc.subjectBiped
dc.subjectControl
dc.subjectGait
dc.subjectRobot
dc.titleA simple mapping methodology of gait biomechanics for walking control of a biped robot
dc.typeARTÍCULO DE CONFERENCIA
dc.ucuenca.afiliacionMinchala, L., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador; Minchala, L., Tecnologico de Monterrey, Escuela de Ingeniería y Ciencias, Monterrey, Mexico
dc.ucuenca.afiliacionAstudillo, D., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador
dc.ucuenca.afiliacionVazquez, A., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador
dc.ucuenca.areaconocimientofrascatiamplio2. Ingeniería y Tecnología
dc.ucuenca.areaconocimientofrascatidetallado2.2.2 Robótica y Control Automático
dc.ucuenca.areaconocimientofrascatiespecifico2.2 Ingenierias Eléctrica, Electrónica e Información
dc.ucuenca.areaconocimientounescoamplio07 - Ingeniería, Industria y Construcción
dc.ucuenca.areaconocimientounescodetallado0714 - Electrónica y Automatización
dc.ucuenca.areaconocimientounescoespecifico071 - Ingeniería y Profesiones Afines
dc.ucuenca.comiteorganizadorconferenciaUNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS
dc.ucuenca.conferencia2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)
dc.ucuenca.embargoend2050-12-19
dc.ucuenca.embargointerno2050-12-19
dc.ucuenca.fechafinconferencia2018-08-10
dc.ucuenca.fechainicioconferencia2018-08-08
dc.ucuenca.idautor0301453486
dc.ucuenca.idautor0103907036
dc.ucuenca.idautor0301496840
dc.ucuenca.indicebibliograficoSCOPUS
dc.ucuenca.numerocitaciones0
dc.ucuenca.organizadorconferenciaUNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS
dc.ucuenca.paisPERU
dc.ucuenca.urifuentehttps://ieeexplore.ieee.org/document/8526395/authors#authors
dc.ucuenca.versionVersión publicada
dc.ucuenca.volumennoviembre 2018
dspace.entity.typePublication
relation.isAuthorOfPublicationa3e784e2-0457-4d35-911e-12908570f43c
relation.isAuthorOfPublication0ace217e-689c-4f2a-bbbf-0b5171b24110
relation.isAuthorOfPublication.latestForDiscoverya3e784e2-0457-4d35-911e-12908570f43c

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