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Modeling, Simulation and Control of the Walking of Biped Robotic Devices, Part II: Rectilinear Walking
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Inventions 2016, 1(1), 8; doi:10.3390/inventions1010008

Modeling, Simulation and Control of the Walking of Biped Robotic Devices—Part III: Turning while Walking

Control and Computer Engineering Department, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10124 Torino, Italy
These authors contributed equally to this work.
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Academic Editor: Chien-Hung Liu
Received: 24 November 2015 / Revised: 29 February 2016 / Accepted: 11 March 2016 / Published: 22 March 2016
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Abstract

In part II of this group of papers, the control of the gait of a biped robot during rectilinear walk was considered. The modeling approach and simulation, using Kane’s method with implementation leveraged by Autolev, a symbolic computational environment that is complementary, was discussed in part I. Performing turns during the walk is technically more complex than the rectilinear case and deserves further investigation. The problem is solved in the present part III as an extension of part II. The robot executes a rectilinear walk on a local reference frame whose progression axis is always tangent, and its origin performs the involute of the path curve. The curve is defined by its curvature (osculating circle) and center of curvature (evolute) along the path. Radius of curvature and center can change continuously (in practice at every sampling time). For postural equilibrium, Center of Gravity and Zero Moment Point (COG/ZMP) follow the same preview reference proposed for rectilinear walk (c o g R e f x ( t ) , c o g ˙ R e f x ( t ), c o g R e f y ( t ) , c o g ˙ R e f y ( t )). The effect of the turn on the sagittal plane is negligible and is ignored, while on the frontal plane it is accounted for by an offset on COG reference to compensate for the centrifugal acceleration. The body trunk and local frame rotation, and the generation of the references on this moving frame of the free foot trajectory during the swing deserve attention. View Full-Text
Keywords: gait; postural equilibrium; ZMP; preview control; biped robotics; exoskeletons; turn while walking gait; postural equilibrium; ZMP; preview control; biped robotics; exoskeletons; turn while walking
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Menga, G.; Ghirardi, M. Modeling, Simulation and Control of the Walking of Biped Robotic Devices—Part III: Turning while Walking. Inventions 2016, 1, 8.

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