Simulation of biped locomotion of humanoid robots in 3D space

Download
index.pdf
2010
Akalın, Gökcan
Show full item record
227
views
113
downloads
The main goal of this thesis is to simulate the response of a humanoid robot using a specified control algorithm which can achieve a sustainable biped locomotion with 4 basic locomotion phases. Basic parts for the body of the humanoid robot model are shaped according to the specified basic physical parameters and assumed kinematic model. The kinematic model, which does not change according to locomotion phases and consists of 27 segments including 14 virtual segments, provides a humanoid robot model with 26 degrees of freedom (DOF). Corresponding kinematic relations for the robot model are obtained by recursive formulations. Derivation of dynamic equations is carried out by the Newton-Euler formulation. A trajectory definition algorithm which defines positions, orientations, translational and angular velocities for the hip and its mass center, toe part of the foot and its toe point is created. A control strategy based on predictive optimum command acceleration calculations and computed torque control method is implemented. The simulation is executed in Simulink and the visualization of the simulation is established in a virtual environment by Virtual Reality Toolbox of MATLAB. The simulation results and the user defined reference input are displayed simultaneously in the virtual environment. In this study, a simulation environment for the biped locomotion of humanoid robots is created. By the help of this thesis, the user can test various control strategies by modifying the modular structure of the simulation and acquire necessary information for the preliminary design study of a humanoid robot construction.
Robots, Simulation methods.
http://etd.lib.metu.edu.tr/upload/12612470/index.pdf
https://hdl.handle.net/11511/20183
Graduate School of Natural and Applied Sciences, Thesis

Suggestions

Optimal control of a half circular compliant legged monopod
Özkan Aydın, Yasemin; Leblebicioğlu, Mehmet Kemal; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2013)
Legged robots have complex architecture because of their nonlinear dynamics and unpredictable ground contact characteristics. They can be also dynamically stable and exhibit dynamically dexterous behaviors like running, jumping, flipping which require complex plant models that may sometimes be difficult to build. In this thesis, we focused on half circular compliant legged monopod that can be considered as a reduced-order dynamical model for the hexapod robot, called RHex. The main objective of this thesis ...
Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration
Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010)
In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
Intelligent gait control of a multilegged robot used in rescue operations
Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003)
In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Software development for man-machine interface for an industrial robot
Cengiz, Mahir Cihan; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (2003)
In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given ...
Synchronization of multiple serially actuated robotic legs using virtual damping control
Özen, Merve; Saranlı, Uluç; Department of Computer Engineering (2018)
Even though one-legged models have been found to be a useful fundamental basis for understanding and controlling the dynamics of running, animals and physical robots alike often use multiple legs for additional support, dexterity, and stability. In general, the dynamics of such multi-legged morphologies are more complex and their control is more difficult. A common problem in this context is to achieve a particular phase relationship between periodic oscillations of different legs, resulting in different lo...
Citation Formats
G. Akalın, “Simulation of biped locomotion of humanoid robots in 3D space,” M.S. - Master of Science, Middle East Technical University, 2010.
METU IIS - Integrated Information Service open@metu.edu.tr