Stair Climbing Biped Robot Using Stair-slope Transform Approach Based on Three-Mass with Angular Momentum Model
Date Issued
2014
Date
2014
Author(s)
Gu, Shao-Cheng
Abstract
The approaches of biped walking robots have been proposed to overcome several situations, such as walking on uneven terrains, circumventing obstacles, collision avoidance, push recover, striding across obstacles, climbing stairway. In order to maintain balance, the stability of biped robots is crucial and fundamental. The zero moment point (ZMP) theory has been proposed for determining whether robots fall down or not. If ZMP exceed the scope of the polygon of the feet, the biped robots will fall down.
Some simplified models have been proposed based on ZMP. Linear inverted pendulum model (LIPM), one-mass model, uses the limited dynamic parameters, concentrating total mass and angular momentum on one point. To reduce the model error of LIPM caused by mass, three-mass model and multiple masses inverted pendulum model (MMIPM) are developed. Apart from these, to reduce the error caused by moment of inertia, there is an improved model replace the point mass by a flywheel to explicitly represent embodiment of the centroid moment of inertia. To further improve the accuracy of model, we propose a new model that combine three-mass and angular momentum, named three-mass with angular momentum model. The proposed model not only take trunk''s rotation into account and also consider the effect of the rotational inertia of two legs.
There are many research effects in the past for biped robot climbing stairs, virtual slope method for planning walking trajectory has been proposed based on one-mass model. However, using one-mass model does not considerate the rotation of the trunk. With the proposed model, it gains the freedom of using trunk rotation to reduce the moment of the support leg when climbing stairs. Moreover, due to the difficulty in verifying the correction of the virtual slope method with any models more complex than one-mass models. The virtual slope method cannot be directly used with proposed model. Therefore, this paper propose a new method named Stair-slope Transform Approach to solve this problem. The validation of this model and the method is confirmed from the simulations and experiments.
Subjects
三質心角動量模型
雙足機器人
爬樓梯
樓梯斜面轉換方法
Type
thesis
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