Conference
Biped robot gait generation for uneven terrain.
| Τίτλος: | Biped robot gait generation for uneven terrain. |
|---|---|
| Συγγραφείς: | Haldar, Arijit1 (AUTHOR) arijithaldar99@gmail.com, Pagar, Nitin D.1 (AUTHOR) pagarnd@gmail.com |
| Πηγή: | AIP Conference Proceedings. 2026, Vol. 3344 Issue 1, p1-9. 9p. |
| Θεματικοί όροι: | *Dynamic stability, *Bipedalism, *Trails, *Animal locomotion, *Stability criterion |
| Reviews & Products: | MatLab (Computer software) |
| Περίληψη: | Biped robots have a requirement of substituting humans to work in natural and unmanned environments. In such situation, the robots can walk on rough and uneven surfaces like rocks, sands, grassroots, mud etc. These create difficulties for the motion of the robot and undergo disposition on contact. These can be resolved by planning the optimum walking stable gait of the robot so that movement could be synchronized with respective uneven path. The biped walking of the robot causes a change in area under contact due to the pressure applied, it destabilizes the robot. To ensure its stability, parallel foot landing of the robot is proposed, this technique enables a fully actuation, equivalent force distribution of the robot on the surface and an equidistance walking path-line. It utilizes the zero moment point by nullifying the effect of the generative induced moments centralized at the centre of mass (COM) point. This work illustrates the simulation effect on its first foot travel point and ensuring stable parallel motion along with second supporting foot. In this context, a MATLAB simulation is being performed which will provide the desired motion as well as the position of the robot foot each time it completes a step during the locomotion. Further gait generation set is modelled by physical development of bipod robot which determines the trajectory and path-line of biped robot in-line with simulation executed. [ABSTRACT FROM AUTHOR] |
| Βάση Δεδομένων: | Academic Search Index |
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