Obtaining the gait pattern joint angles of the bipedal walking robot by physical and mathematical methods
Küçük Resim Yok
Tarih
2023
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Gazi Univ, Fac Engineering Architecture
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study, physical, mathematical, and geometric methods were used to produce the static walking patterns of the bipedal robot. For the static walking of the bipedal robot, a flat surface was used and zero moment point criteria were adhered to. The walking patterns produced were applied to the 12-jointed bipedal robot, and it was carried out to walk on a flat surface. Figure A. Gait pattern of the right leg for a gait cycle and the biped robot gait pattern.Purpose: The aim of this study is to obtain the static walking patterns of the bipedal robot, similar to a human gait, by physical, mathematical, and geometric methods and to realize the static walking of the bipedal robot.Theory and Methods: In this study, firstly; Physics, mathematics, geometry, trigonometry, forward, and inverse kinematics methods were used to obtain the values of the joint angles required for the walking pattern of the bipedal robot. Then, the balance control of the bipedal robot was obtained according to the zero moment point method. Thus, the patterns of the joint angles required for the static walking of the bipedal robot were found. However, the gait patterns produced are only used for static walking. Therefore, the bipedal robot has to only walk on a flat surface, as shown in Figure A.Results: In this study, no physical intervention was made on the bipedal robot and static walking of the bipedal robot without falling on a flat surface was performed.Conclusion: When the theoretically calculated angle values are applied to the bipedal robot, it has been determined that the angles of the servo motors in the joints of the bipedal robot move to the desired position. However, since the walking pattern is made with the static walking algorithm, the bipedal robot cannot increase its speed whenever it wants like a human. Therefore, the speed and stride length of the bipedal robot has been limited due to static walking.
Açıklama
Anahtar Kelimeler
Bipedal Robot, Static Walking, Robot Walking, Robot Gait Analysis, Gait Pattern
Kaynak
Journal Of The Faculty Of Engineering And Architecture Of Gazi University
WoS Q Değeri
N/A
Scopus Q Değeri
Q2
Cilt
38
Sayı
3
