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Sun P, Gu Y, Mao H, Chen Z, Li Y. Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot. Biomimetics (Basel) 2023; 8:258. [PMID: 37366853 DOI: 10.3390/biomimetics8020258] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/18/2023] [Revised: 06/02/2023] [Accepted: 06/09/2023] [Indexed: 06/28/2023] Open
Abstract
A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
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Affiliation(s)
- Peng Sun
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
- Huzhou Institute of Digital Economy and Technology, Zhejiang University of Technology, Huzhou 313000, China
| | - Yunfei Gu
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
- Huzhou Institute of Digital Economy and Technology, Zhejiang University of Technology, Huzhou 313000, China
| | - Haoyu Mao
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
- Huzhou Institute of Digital Economy and Technology, Zhejiang University of Technology, Huzhou 313000, China
| | - Zhao Chen
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
- Huzhou Institute of Digital Economy and Technology, Zhejiang University of Technology, Huzhou 313000, China
| | - Yanbiao Li
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
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Abstract
Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.
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