A NOVEL HIP-MASS CARRYING MINIMALIST BIPEDAL ROBOT WITH FOUR DEGREES OF FREEDOM

摘要

The paper presents a simplified mathematical model ofrnthe two-legs walking robot with four degrees of freedom.rnIt presents a novel sensing and balancing method for thernbipedal robot with minimum possible for the walk degreesrnof freedom. The proposed method involves the design ofrnsemi-rigid ankle to facilitate fast and accuraternmeasurements of the sideway (sagittal) instability of thernwalking robot. The use of new hip-mass carrying strategyrnin forward direction and system of two counter masses forrnthe sideway body balancing allows to decouple thernforward walking algorithms from the robot stabilityrnissues. The system of two different masses helps tornimprove response time and efficiency of the balancingrnsystem. The developed control algorithms providerncontinuous stability of the robot while it walks in forwardrndirection by actuating its four DC motors. The smoothrnlegs trajectory planning is implemented to minimize thernfoot-ground impact and jerky motions at the joints. Thernefficiency of the proposed control algorithms are testedrnand verified by using MATLAB Simulink computer tools.