Dynamic Humanoid Gait Simulation of Biped Robot Based on ADAMS

Abstract:

During the design of biped robot HEUBR_1, a new structure of tandem and parallel connection is used in lower-limbs, adding toe-joints to feet. In order to make sure the rationality of humanoid structure design and feasibility of the humanoid gait planning, we built the simulating model of biped robot HEUBR_1 by using software ADAMS. The simulating model of biped robot HEUBR_1 walked stably with toe-joints in fictitious surrounding, which used the motion data exported by humanoid gait planning. During humanoid gait simulation, the biped robot kinematic and dynamical characteristics were achieved. Simulation indicates that the structure of tandem and parallel connection is rational and the method of humanoid gait planning is feasible. Humanoid walking with toe-joints has the characteristic: balanced motion, lower energy and small impact on feet. Simulated data of steady walking will be used as reference for biped robot HEUBR_1 walking experiments.

• Periodical: Applied Mechanics and Materials (Volume 461)
• Pages: 894-902
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.461.894
• Online since: November 2013
• Authors: Zhi Wei Yu, Li Quan Wang, Peng Wang, Zhen Dong Dai
• Keywords: Biped Robot, Dynamic Simulation, Humanoid Gait, Toe Joint

References

[1] J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. Hodgins, Footstep planning for the Honda ASIMO humanoid. Proceedings of the IEEE International Conference on Robotics and Automation. 2005: 629-634.

DOI: 10.1109/robot.2005.1570188

[2] M. Hirose, K. Ogawa, Honda humanoid robots development, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences. 2007, 365(1850): 11-19.

DOI: 10.1098/rsta.2006.1917

[3] I. W. Park, J. Y. Kim, J. Lee, J. H. Oh, Mechanical design of the humanoid robot platform, HUBO. Advanced Robotics. 2007, 21(11): 1305-1322.

DOI: 10.1163/156855307781503781

[4] G. Endo, J. Nakanishi, J. Morimoto, G. Cheng, Experimental studies of a neural oscillator for biped locomotion with QRIO. Proceedings of the IEEE International Conference on Robotics and Automation. 2005: 596-602.

DOI: 10.1109/robot.2005.1570183

[5] L. Geppert, QRIO, the robot that could, IEEE Spectrum. 2004, 41(5): 34-37.

[6] K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue, Toe joints that enhance bipedal and fullbody motion of humanoid robots, Proceedings of the IEEE International Conference on Robotics and Automation. 2002: 3105-3110.

DOI: 10.1109/robot.2002.1013704

[7] S. Kagami, M. Mochimaru, Y. Ehara, N. Miyata, K. Nishiwaki, T. Kanade, H. Inoue, Measurement and comparison of humanoid H7 walking with human being, Robotics and Autonomous Systems. 2004, 48(4): 177-187.

DOI: 10.1016/j.robot.2004.07.006

[8] X. J. Zhao, Q. Huang, Z. Q. Peng, L. G. Zhang, K. J. Li, Kinematics mapping of humanoid motion based on human motion. Robotics. 2005, 27(4): 358-361.

[9] H. Lim, A. Takanishi, Biped walking robots created at Waseda University: WL and WABIAN family. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences. 2007, 365(1850): 49-64.

DOI: 10.1098/rsta.2006.1920

[10] P. Sardain, G. Bessonnet, Forces acting on a biped robot. Center of pressure-zero moment point, IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans. 2004, 34(5): 630-637.

DOI: 10.1109/tsmca.2004.832811

[11] W. Schiehlen, Energy-optimal design of walking machines, Multi-body System Dynamics. 2005, 13(1): 129-141.

DOI: 10.1007/s11044-005-4068-4

[12] F. Kanehiro, H. Hirukawa, S. Kajita, OpenHRP: Open architecture humanoid robotics platform, The International Journal of Robotics Research. 2004, 23(2): 155-165.

DOI: 10.1177/0278364904041324

[13] Q. Huang, Y. Nakamura, H. Arai, Development of a biped humanoid simulator, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. 2000: 1936-(1942).

DOI: 10.1109/iros.2000.895254

[14] Q. Huang, Planning walking patterns for a biped robot. IEEE Transactions on Robotics and Automation. 2001, 17(3): 280-289.

DOI: 10.1109/70.938385

[15] Z. Yu, L. Wang, J. Han, Walking stability in bipedal robots, Joumal of Harbin Engineering University. 2009, 30(11): 1285-1290.

[16] L. Wang, Z. Yu, Experimental Study and Prototype Development of Biped Robot HEUBR_1, Robot. 2009, 31(5): 453-459.