☆ 4.4 Article

Inverted pendulum model for turn-planning for biped robot

PHYSICAL COMMUNICATION (2020)

Journal

PHYSICAL COMMUNICATION

Volume 42, Issue -, Pages -

Publisher

ELSEVIER

DOI: 10.1016/j.phycom.2020.101168

Keywords

Two-dimensional inverted pendulum; Stance phase; Swing phase; ROS; V-rep

Categories

Engineering, Electrical & Electronic Telecommunications

Funding

Leju Robotics

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Reagent

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Abstract

Based on the inverted pendulum model, gait planning of biped robot is carried out, which makes it walk steadily and realizes steering in one step. Aiming at the stability of the turning poses of the humanoid robot, this paper studies the landing stability analysis of the robot, the planning and control of landing after turning, improves the inverted pendulum model, and introduces the turning angle to the model of trajectory generation. By this method, the robot can plan a more reasonable gait trajectory of the real robot when turning, and achieve a single-step sharp turn at any angle, thereby making the robot walk more smoothly. Based on ROS and V-rep, the robot simulation platform was constructed, the hardware experimental platform was self-made, and the feasibility of gait planning method was verified by simulation and experiments respectively. The experiment results showed that the turning error of the robot on the plane was less than 6 degrees. (C) 2020 Published by Elsevier B.V.

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