Design and Dynamic Walking Control of Humanoid Robot SCUT-I

Abstract:

The basic configuration and control method of the humanoid robot SCUT-I are presented. SCUT-I, developed by the Robot and Intelligent Software Laboratory in South China University of Technology, 58.2 centimeter tall and 3.9 Kg weight with 21 degree of freedom (DoF), was designed to be humanlike including two legs, two arms, a trunk and a head. The mechanical design, hardware description, sensor fusion and motion control schemes of SCUT-I are represented, and a kind of dynamical walking control schemes based on linear inverted pendulum model (LIPM) and attitude sensor feedback control is proposed.

• Periodical: Applied Mechanics and Materials (Volume 187)
• Pages: 165-172
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.187.165
• Online since: June 2012
• Authors: Sheng Bi, Zhong Jie Zhuang, Hua Qing Min, Hua Xi Mo
• Keywords: Control System Structure, Dynamical Walking, Humanoid Robot, Sensor Fusion

References

[1] Yamaguchi Jin-ichi and Takanishi Atsuo, Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism, IEEE International Conference on Robotics and Automation, 1997, vol. l, pp.18-192.

DOI: 10.1109/robot.1997.620036

[2] Hirae K and HiroseM, The development of Honda robot., Proceedings of the 1998 IEEE International Conference on Robotics and Automation , USA: IEEE, 1998, pp.1321-1326.

[3] Kaneko Kenji, Kanehiro Fumio and Kajita Shuuji, et al. Ota, Design of prototype humanoid robotics platform for HRP., IEEE International Conference on Intelligent Robots and Systems, 2002, vol. 3, pp.2431-2436.

DOI: 10.1109/irds.2002.1041632

[4] K. Löffler, M. Gienger and F. Pfeiffer, Sensors and control concept of walking "Johnnie"., The International Journal of Robotics Research, 2003, Vol. 22, pp.229-239.

DOI: 10.1177/0278364903022003007

[5] Marc Raibert, Legged robots that balance, MIT Press, Cambridge, MA, (1986).

[6] Jian Wang, Tao Sheng , Hongxu Ma , et al, Design and dynamic walking control of humanoid robot Blackmann, Proceedings of the 6th World Congress on Intelligent Control and Automation, CHINA: IEEE, 2006, pp.8848-8852.

DOI: 10.1109/wcica.2006.1713710

[7] Bi Sheng, Min Huaqing, Liu Qifeng, et al, Multi-objective optimization for a humanoid robot climbing stairs based on Genetic Algorithms, , 2009 IEEE International Conference on Information and Automation. CHINA: IEEE, 2009, pp.66-71.

DOI: 10.1109/icinfa.2009.5204895

[8] Robtis company, Dynamixel RX-64 user's manual v1. 10, pp.1-49.

[9] James Bruce, Tucker Balch, Manuela Veloso, Fast and inexpensive color image segmentation for interactive robots, International Conference on Intelligent Robots and System. Japan: IEEE, 2000, p.2061-(2066).

DOI: 10.1109/iros.2000.895274

[10] Masato Takahashi, Koichi Nishiwaki, Satoshi Kagami, et al, Development and evaluation of an attitude measuring system that uses acceleration information of walking for biped robots, IEEE SENSORS 2007 Conference. IEEE, 2007, pp.292-295.

DOI: 10.1109/icsens.2007.4388394

[11] Greg Welch and Gary Bishop, An introduction to the Kalman filter, unpublished, 2006, pp.1-16.

[12] Analog Device, ADXL204 datasheet, 2006, pp.1-12.

[13] InvenSence Device, IDG-300 datasheet, pp.1-17.

[14] Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, et al. The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation, Proceedings of IEEE/RSJ, International Conference on Intelligent Robots and Systems: IEEE, 2001, pp.239-246.

DOI: 10.1109/iros.2001.973365

[15] Miomir Vukobratovic, Zero-moment point -thirty five years of its life, International Journal of Humanoid Robotics, vol. 1, no. 1, 2004, pp.157-173.

DOI: 10.1142/s0219843604000083