TY - GEN
T1 - Structural Design and Gait Planning of Hydraulic Humanoid Biped Robots
AU - Li, Yingxing
AU - Yuan, Zhaohui
AU - Zhou, Qingqing
AU - Li, Jingchao
AU - Zhang, Jianrui
AU - Sang, Xiaoyue
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper designs a hydraulic humanoid biped robot with 12 degrees of freedom named Defensor. First of all, this paper chooses the self-designed hydraulic humanoid biped robot as the research object. Then the Defensor’s structural design is introduced includes sensors distribution and Defensor’s 12-DOF on the structure. Secondly, a linear inverted pendulum model is established to simplify the Defensor’s whole model, and a hierarchical control structure is designed to control the movement of Defensor. Thirdly, this paper builds the virtual simulation platform Simscape Multibody and the experiment platform of Defensor. After that, the gait planning of the robot is realized, and the relevant research results are verified. Lastly, this paper realizes the Defensor’s continuous and stable walking in the virtual simulation platform. The simulation results show that Defensor’s mechanical model is reasonable and the gait planning control method adopted in this paper makes the hydraulic humanoid biped robot stable and feasible.
AB - This paper designs a hydraulic humanoid biped robot with 12 degrees of freedom named Defensor. First of all, this paper chooses the self-designed hydraulic humanoid biped robot as the research object. Then the Defensor’s structural design is introduced includes sensors distribution and Defensor’s 12-DOF on the structure. Secondly, a linear inverted pendulum model is established to simplify the Defensor’s whole model, and a hierarchical control structure is designed to control the movement of Defensor. Thirdly, this paper builds the virtual simulation platform Simscape Multibody and the experiment platform of Defensor. After that, the gait planning of the robot is realized, and the relevant research results are verified. Lastly, this paper realizes the Defensor’s continuous and stable walking in the virtual simulation platform. The simulation results show that Defensor’s mechanical model is reasonable and the gait planning control method adopted in this paper makes the hydraulic humanoid biped robot stable and feasible.
KW - Gait planning
KW - Hydraulic humanoid biped robot
KW - Mechanical structure
UR - http://www.scopus.com/inward/record.url?scp=85135814627&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-3998-3_7
DO - 10.1007/978-981-19-3998-3_7
M3 - 会议稿件
AN - SCOPUS:85135814627
SN - 9789811939976
T3 - Lecture Notes in Electrical Engineering
SP - 66
EP - 75
BT - Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control
A2 - Ren, Zhang
A2 - Hua, Yongzhao
A2 - Wang, Mengyi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021
Y2 - 19 January 2022 through 22 January 2022
ER -