Contriving a turning gait for an anthropomorphous system

2011 IEEE Student Conference on Research and Development Pub Date : 2011-12-01 DOI:10.1109/SCORED.2011.6148715

M. Akhtaruzzaman, A. Shafie

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引用次数: 1

Abstract

Like the walking gait, turning left or right is also an important action for an anthropoid to adapt itself in its navigation environment. The fashion of turning gait includes two main phases, Single Support Phase (SSP) and Double Support Phase (DSP). This paper represents the design of a novel type of turning gait for an anthropomorphic robot. The designed gait is experimented using BIOLOID humanoid system as one of the major requirements to establish an Indoor Navigation System. Besides the various gaits which are designed for the project, the fashion of turning is excogitated through the Forward Kinematics (FK) and Inverse Kinematics (IK) analysis based on the Denavit-Hartenberg (D-H) representation and Geometrical Analysis Technique (GAT) respectively. The analysis is performed to identify the required angular positions of joint actuators for various poses of the designed gait. This paper only focuses on the design strategy of the turning gait with the demonstration of the joint movement characteristics which are important to provide the desired movements of the entire system to perform the gait without losing its upright position.

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为拟人系统设计转弯步态

与行走步态一样，向左转或向右转也是类人猿适应其导航环境的重要动作。旋转步态的演变过程主要包括单支撑阶段和双支撑阶段。本文设计了一种新型的拟人机器人转弯步态。采用BIOLOID类人系统作为室内导航系统的主要要求之一，对设计的步态进行了实验。除了为该项目设计的各种步态外，还分别通过基于Denavit-Hartenberg (D-H)表示和几何分析技术(GAT)的正运动学(FK)和逆运动学(IK)分析来研究转弯的方式。进行分析，以确定设计步态的各种姿势的关节驱动器所需的角度位置。本文只关注转向步态的设计策略，并展示了关节运动特性，这对于提供整个系统所需的运动来完成步态而不失去其直立位置至关重要。

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2011 IEEE Student Conference on Research and Development

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