КФУ. Карточка публикации. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability

RUS

- EN
- 中文
- ES

ANTHROPOMORPHIC ROBOT MODELLING WITH VIRTUAL HEIGHT INVERTED PENDULUM APPROACH IN SIMULINK: STEP LENGTH AND PERIOD INFLUENCE ON WALKING STABILITY

Форма представления

Тезисы и материалы конференций в зарубежных журналах и сборниках

Год публикации

2016

Язык

английский

Авторы, сотрудники КФУ

Афанасьев Илья Михайлович, автор

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Khusainov R., Afanasyev I., Magid E. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability // ICAROB 2016 - International Conference on Artificial Life and Robotics (Ginowan, Japan; 29-31 January 2016) - p. 208-211.

Аннотация

Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)

Ключевые слова

bipedal robot, dynamic stability, Simulink, AR-601M robot

Название журнала

Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)

Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку

https://repository.kpfu.ru/?p_id=149754

Файлы ресурса

Название файла	Размер (Мб)	Формат
2016_Anthropomorphic_robot_modelling_with_virtual_height_inverted.pdf	0,50	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Афанасьев Илья Михайлович	ru_RU
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Khusainov R., Afanasyev I., Magid E. Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability // ICAROB 2016 - International Conference on Artificial Life and Robotics (Ginowan, Japan; 29-31 January 2016) - p. 208-211.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=149754	ru_RU
dc.description.abstract	Proceedings of the 2016 International Conference on Artificial Life and Robotics (ICAROB 2016)	ru_RU
dc.description.abstract	Humanoid stable walking is a complex task due the high number of degrees of freedom, system nonlinearity and relatively small size of robot footprint. Biped robots tend to fall down as walking speed increases or when the terrain conditions change. This paper presents dynamically stable walking modelling of Russian humanoid AR-601M in Simulink environment with virtual height inverted pendulum model (VHIPM), an effective and simple trajectory generation method based on inverted pendulum model (IPM). This algorithm adjusts height of the center of mass in IPM model to reduce ZMP error and guarantees stable locomotion up to some critical speed. We investigate influence of the step length and step period on walking stability. Maximum torque values in leg joints are estimated in order to verify if such trajectories are attainable by robot motors. We demonstrate that the robot model is capable to achieve significant walking speeds on flat surfaces using this method.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	bipedal robot	ru_RU
dc.subject	dynamic stability	ru_RU
dc.subject	Simulink	ru_RU
dc.subject	AR-601M robot	ru_RU
dc.title	Anthropomorphic robot modelling with virtual height inverted pendulum approach in Simulink: step length and period influence on walking stability	ru_RU
dc.type	Тезисы и материалы конференций в зарубежных журналах и сборниках	ru_RU