Quasi-inverse pendulum model of 12 DoF bipedal walking

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 foo...

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Main Authors:	Akhtaruzzaman, Md., Shafie, Amir Akramin, Khan, Md. Raisuddin
Format:	Article
Language:	English English
Published:	Chinese Academy of Sciences 2017
Subjects:	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf

id	iium-63049
recordtype	eprints
spelling	iium-630492018-05-07T02:10:09Z http://irep.iium.edu.my/63049/ Quasi-inverse pendulum model of 12 DoF bipedal walking Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery 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 pendulum (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 (FK) 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. Chinese Academy of Sciences 2017-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf application/pdf en http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf Akhtaruzzaman, Md. and Shafie, Amir Akramin and Khan, Md. Raisuddin (2017) Quasi-inverse pendulum model of 12 DoF bipedal walking. International Journal of Automation and Computing, 14 (2). pp. 179-190. ISSN 1476-8186 https://link.springer.com/article/10.1007%2Fs11633-016-1023-1 10.1007/s11633-016-1023-1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery
spellingShingle	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin Quasi-inverse pendulum model of 12 DoF bipedal walking
description	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 pendulum (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 (FK) 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.
format	Article
author	Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin
author_facet	Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin
author_sort	Akhtaruzzaman, Md.
title	Quasi-inverse pendulum model of 12 DoF bipedal walking
title_short	Quasi-inverse pendulum model of 12 DoF bipedal walking
title_full	Quasi-inverse pendulum model of 12 DoF bipedal walking
title_fullStr	Quasi-inverse pendulum model of 12 DoF bipedal walking
title_full_unstemmed	Quasi-inverse pendulum model of 12 DoF bipedal walking
title_sort	quasi-inverse pendulum model of 12 dof bipedal walking
publisher	Chinese Academy of Sciences
publishDate	2017
url	http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf
first_indexed	2023-09-18T21:29:24Z
last_indexed	2023-09-18T21:29:24Z
_version_	1777412409319751680

Quasi-inverse pendulum model of 12 DoF bipedal walking

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