Generating Curved Path Walking Gaits for Biped Robots with Deficient Degrees of Freedom

This paper presents a method for generating curved path sequences in a humanoid robot with a deficient degree of freedom (DOF).Typically robots not having the yaw DOF in their limbs cannot turn in a curved path. This paper aims at achieving that by combining the robot's friction based slip turn...

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Bibliographic Details
Main Authors: Sriganesh, Prasanna, Mahendrakar, Prajwal Rajendra
Format: Conference Proceeding
Language:English
Subjects:
Friction
Humanoid and Bipedal Locomotion
Humanoid robots
Legged locomotion
Mathematical model
Mechatronics Systems
Motion and Path Planning
Robot sensing systems
Robots
Turning
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Summary:This paper presents a method for generating curved path sequences in a humanoid robot with a deficient degree of freedom (DOF).Typically robots not having the yaw DOF in their limbs cannot turn in a curved path. This paper aims at achieving that by combining the robot's friction based slip turn mechanism with the simple straight walking gait of the 3-D linear inverted pendulum model into a smooth curved motion. The amount of turn caused by the slip model is estimated and multiple experiments are conducted to verify the prediction. We noticed that the co-efficient of friction does not affect the amount of turn for symmetric gaits. A novel mathematical model which uses the radius of the curved path to plan the gait for generating a smooth circular trajectory, has been developed. A 17-DOF robot named TONY is used to test the hypothesis. The results are successful and the robot is able to walk in a curved path.
ISSN:2474-2325
DOI:10.1109/IEEECONF49454.2021.9382698