Comprising of Elastostatic and Elastodynamic Modeling for Compliance Error Compensation in Bipedal Robot

摘要

This paper compares elastostatic and elastodynamic model for compliance error compensation in a humanoid robot with 12 DoF lower limb structure. One of the key problems in achieving fast and stable biped robot walking is deflections caused by the joint compliances. This problem was addressed using virtual joint method for stiffness modeling with further compensation of elastic deformations caused by the robot links weight and forces, arising during walking in single support phase and dual support phase. Compensation was done for static forces acting on the robot as well as static and dynamic forces using off line method in the V-REP simulator. To validate results a prototype was manufactured using 3D printing technology. Implemented ZMP preview control for the prototype demonstrated stable biped locomotion.