The Generation of a Stable Walking Trajectory of a Biped Robot based on the COG based-Gait Pattern and ZMP Constraint
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2018, Vol 9, Issue 9
Abstract
The research works contained in this paper are focused on the generation of a stable walking pattern of a biped robot and the study of its dynamic equilibrium while controlling the two following criteria; the centre of gravity COG and the zero-moment point ZMP. The stability was controlled where the biped have to avoid collision with obstacle. The kinematic constraints were also taken into consideration during the walking of the biped robot. In fact, the generation of the walking patterns is composed of several stages. First, we used the Kajita method for the generation of the COG trajectory, based on the linear inverted pendulum LIPM during the simple support phase SSP and linear pendulum model LPM during double support phase DSP. After that, we used two 4thspline function to generate the swing foot trajectory during the SSP and we used exact formulate for the foot trajectory during DSP. Finally, Newton's algorithm was performed (at the level of the inverse geometric model), in order to calculate the different joints according to the desired trajectories of the hip and the feet. Ground reaction forces were also determined from the dynamic model to satisfy the kinematic constraints on both feet of the biped. The generation of walking is done for two different speeds. To study the biped balance, ZMP generation algorithm was performed during the different walking phases and the results obtained for the two cases were compared.
Authors and Affiliations
Arbia Ayari, Jilani Knani
Keywords
Related Articles
- EP ID EP394008
- DOI 10.14569/IJACSA.2018.090945
- Views 80
- Downloads 0
Multivariate Statistical Analysis on Anomaly P2P Botnets Detection
Botnets population is rapidly growing and they become a huge threat on the Internet. Botnets has been declared as Advanced Malware (AM) and Advanced Persistent Threat (APT) listed attacks which is able to manipulate adva...
Efficient Relay Selection Scheme based on Fuzzy Logic for Cooperative Communication
The performance of cooperative network can be increased by using relay selection technique. Therefore, interest in relay selection is sloping upward. We proposed two new relay selection schemes based on fuzzy logic for d...
MAS based on a Fast and Robust FCM Algorithm for MR Brain Image Segmentation
In the aim of providing sophisticated applications and getting benefits from the advantageous properties of agents, designing agent-based and multi-agent systems has become an important issue that received further consid...
Creating a Complete Model of an Intrusion Detection System effective on the LAN
the Intrusion Detection Systems (IDS) are now an essential component in the structure of network security. The logs of connections and network activity, with a large amount of information, can be used to detect int...
Development of A Clinically-Oriented Expert System for Differentiating Melanocytic from Non-melanocytic Skin Lesions
Differentiating melanocytic from non-melanocytic (MnM) skin lesions is the first and important step required by clinical experts to automatically diagnosis pigmented skin lesions (PSLs). In this paper, a new clinically-o...