Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic
TypeCommunications avec actes
In this paper, we address the problem of optimization of trajectories for a new class of biped robot. The knees of this biped are similar as the anthropomorphic one and have a rolling contact between the femur and the tibia. The robot has seven mechanical links and six actuators. The walking gait considered is a succession of single support phase (SSP) and impact of the mobile foot with the ground. Cubic uniform spline functions defined on a time interval express the gait for one step. An energy consumption function and a torques quadratic function are used to compare the new robot with anthropomorphic knees to a conventional robot with revolute joint knees. The minimization of the criteria is made with simplex algorithm. The physical constraints concerning the ZMP and the mobile foot behavior are respectively checked to make a step. Simulation results show that the energy consumption of the new biped with rolling knee contact is less than that of the robot with revolute joint knees.
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HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (2013)The knee of biped robots has usually one degree of freedom which one is a revolute joint. This work focuses on the study of rolling contact knee. The knee is composed of a cylinder in the extremity of the femur, rolling ...
HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Laboratoire de Conception Fabrication Commande (LCFC), 2013)This report presents the dynamic modeling of a planar biped robot. The robot has seven bodies and 9 DOF. Two kinematic configurations are investigated. The first has only revolute joints on all articulation. The second ...
HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Elsevier, 2013)The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow ...
HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (AFM, 2011)L’article présente la méthodologie d’obtention de trajectoires optimales de marche pour une nouvelle classe de robot bipède. Le robot bipède est constitué de sept corps et possède des genoux anthropomorphes avec un contact ...
HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (IEEE, 2013)This paper presents the energy consumption of a biped robot with a new modelled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. ...