[vc_empty_space][vc_empty_space]
Center of Mass based Walking Pattern Generator with Gravity Compensation for Walking Control on Bioloid Humanoid Robot
Riyantoa, Adiprawita W.a, Hindersah H.a, Machbub C.a
a School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2018 IEEE.This research discusses the development of simulation and generator of bipedal robot walking pattern on the sagittal, frontal and transversal planes by setting the trajectory of the sole and the pelvis of the robot with respect to the position of the robot center of mass changes to the biped robot support polygon. The robot center of mass is assumed to lie in the pelvis, and an adjustment is made when the structure of the robot is reconstructed with an additional load. Adjustments made in the form of converting angle of robot torso. The simulation program and the motion generator run out data-driven in the form of simulation data along with the correction data which is the gravity compensation for the reconstructed humanoid Bioloid robot. Data-driven becomes input for RoboPlus program from Robotis to adjust the angular position of each joint, joint rotation speed, robot posture, and static robot balance control. With the data-driven given, the Bioloid robot can achieve walking motion without falling on a flat and even floor without the overlap of a swinging foot to the stance foot, and without significantly affecting the step length and the step height of the initial planning. The robot reaches a speed of 0.423 m / s.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Angular positions,bioloid humanoid,Data driven,Gravity compensation,Motion generator,Simulation program,Transversal planes,Walking pattern generator[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]bioloid humanoid,data-driven,gravity compensation,walking pattern generator[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][{‘$’: ‘ACKNOWLEDGMENT This work is supported by Saintek scholarships given to the first author from the Ministry of Research, Technology, and Higher Education, Indonesia. Valuable comments from reviewers and also postgraduate research team of the School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Indonesia are also very much appreciated.’}, {‘$’: ‘*Research supported by Saintek Scholarship from The Ministry of Research, Technology and Higher Education, Republic of Indonesia.’}][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/ICARCV.2018.8580633[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]