Name
Abstract | ||
|---|---|---|
SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354276 | IROS |
Keywords | Field | DocType |
actuation mechanism,robot joint,control hardware,experimental walking result,new full-body humanoid robot,harmonic drive reduction gear,independent joint position controller,smooth walking trajectory,humanoid robot platform,early landing trajectory modification,dc motors,foot,humanoid robots,inertial navigation,measurement system,pulley systems,humanoid robot,signal processing,gears,pulleys,torque,digital signal processor,mechanism design,dc motor,zero moment point,actuators,harmonics | Inertial navigation system,Kinematics,Torque,Control theory,Simulation,Computer science,Control engineering,Zero moment point,Harmonic drive,Robot,Pulley,Humanoid robot | Conference |
Citations | PageRank | References |
11 | 0.74 | 8 |
Authors | ||
9 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kemalettin Erbatur | 1 | 229 | 22.77 |
| Utku Seven | 2 | 24 | 2.90 |
| Evrim Taskiran | 3 | 11 | 0.74 |
| Özer Koca | 4 | 14 | 1.14 |
| Metin Yilmaz | 5 | 15 | 2.01 |
| Mustafa Ünel | 6 | 154 | 20.71 |
| Güllü Kiziltas | 7 | 21 | 2.13 |
| Asif Sabanovic | 8 | 241 | 37.57 |
| Ahmet Onat | 9 | 65 | 8.53 |