Bipedal Robot Gait Generation Using Bessel Interpolation
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Published:2024-03-28
Issue:4
Volume:9
Page:201
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ISSN:2313-7673
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Container-title:Biomimetics
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language:en
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Short-container-title:Biomimetics
Author:
Wang Zhen1, Li Qingfeng2, Kou Lei3ORCID, Zheng Danni2, Ke Wende1ORCID, Lu Dongxin2
Affiliation:
1. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China 2. Health Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, China 3. Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), Qingdao 266075, China
Abstract
This paper introduces a novel approach to bipedal robot gait generation by proposing a higher-order form through the parameter equation of first-order Bessel interpolation. The trajectory planning for the bipedal robot, specifically for stepping up or down stairs, is established based on a three-dimensional interpolation equation. The experimental prototype, Roban, is utilized for the study, and the structural sketch of a single leg is presented. The inverse kinematics expression for the leg is derived using kinematic methods. Employing a position control method, the angle information is transmitted to the robot’s joints, enabling the completion of both downstairs simulation experiments and physical experiments with the Roban prototype. The analysis of the experimental process reveals a noticeable phenomenon of hip and ankle joint tilting in the robot. This observation suggests that low-cost bipedal robots driven by servo motors exhibit low stiffness characteristics in their joints.
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