This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling o...This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass （CoM） trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulmn （QIP） model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure （COP）. To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor （FSR） sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic （FIK） and inverse kinematic （IK） investigations of the biped model where Denavit-Hartenberg （D-H） representation and Geometric-Trigonometric （G-T） formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.展开更多
It is thought that the life of our Earth can be divided into two basic periods which are: the abiotic sterile physical life and the biological life. Both can be separated into smaller sections which are in the case of...It is thought that the life of our Earth can be divided into two basic periods which are: the abiotic sterile physical life and the biological life. Both can be separated into smaller sections which are in the case of physical life: glowing star state with atomic evolution, solidification of the surface, the appearance of C, O<sub>2</sub> and water and abiotic chemical evolution. During that period of time kinds of external and internal energy were effective only through physical-chemical way. In the case of biological life, the 1<sup>st</sup> section started with the appearance of the first living unit and ended with the beginning of photosynthesis. The 2<sup>nd</sup> one lasted from the start of photosynthesis till the appearance of the first two man-like creatures. The 3<sup>rd</sup> one began from that point of time and lasted till 1778 and the last one the 4<sup>th</sup> has existed since that date. Since the appearance of the first living unit biological accumulation of external energy and mainly C but not only, emission of CO<sub>2</sub> gas, metabolites, heat, transformation and loading of the earthly environment as well as natural mutation of organisms that is the biological evolution have flown. When photosynthesis began biological fixation of solar energy/photon and free atmospheric CO<sub>2</sub>, as well as production of free O<sub>2</sub>, have also started beside the former events and the biological evolution has continued. No unnatural event had happened in these two sections. The fate of the 3<sup>rd</sup> and the 4<sup>th</sup> sections— that is the anthropoid time—has been determined by the unnatural effects of man kind. The most important altering events are: the number of the inhabitants, the use of fire, agricultural production, domestication of animals, formation and maintenance of industry, trade, vehicle-park, denaturation of the surface of the Earth and contamination of soil, atmosphere and waters etc. Finally, ideas for the solution of the climate problems which are mainly the resul展开更多
基金supported by Ministry of Higher Education,Malaysia through the MyRA Incentive Grant Scheme(No.MIRGS13-02-001-0001)
文摘This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass （CoM） trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulmn （QIP） model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure （COP）. To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor （FSR） sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic （FIK） and inverse kinematic （IK） investigations of the biped model where Denavit-Hartenberg （D-H） representation and Geometric-Trigonometric （G-T） formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.
文摘It is thought that the life of our Earth can be divided into two basic periods which are: the abiotic sterile physical life and the biological life. Both can be separated into smaller sections which are in the case of physical life: glowing star state with atomic evolution, solidification of the surface, the appearance of C, O<sub>2</sub> and water and abiotic chemical evolution. During that period of time kinds of external and internal energy were effective only through physical-chemical way. In the case of biological life, the 1<sup>st</sup> section started with the appearance of the first living unit and ended with the beginning of photosynthesis. The 2<sup>nd</sup> one lasted from the start of photosynthesis till the appearance of the first two man-like creatures. The 3<sup>rd</sup> one began from that point of time and lasted till 1778 and the last one the 4<sup>th</sup> has existed since that date. Since the appearance of the first living unit biological accumulation of external energy and mainly C but not only, emission of CO<sub>2</sub> gas, metabolites, heat, transformation and loading of the earthly environment as well as natural mutation of organisms that is the biological evolution have flown. When photosynthesis began biological fixation of solar energy/photon and free atmospheric CO<sub>2</sub>, as well as production of free O<sub>2</sub>, have also started beside the former events and the biological evolution has continued. No unnatural event had happened in these two sections. The fate of the 3<sup>rd</sup> and the 4<sup>th</sup> sections— that is the anthropoid time—has been determined by the unnatural effects of man kind. The most important altering events are: the number of the inhabitants, the use of fire, agricultural production, domestication of animals, formation and maintenance of industry, trade, vehicle-park, denaturation of the surface of the Earth and contamination of soil, atmosphere and waters etc. Finally, ideas for the solution of the climate problems which are mainly the resul
