Mechanical Engineering Department

Research Proposal Biped Robot

Dhavalkumar Hasmukhlal Panchal
Introduction
Robot with human-like proportions is arguably the most suitable choice to operate with humans and
in environments specifically designed for humans.

It is a challenging task to control and stabilize bipedal robot locomotion because of its constrained
dynamic characteristics, especially with its walking gaits trajectories.

The most obvious difference between walking and running gait is that during walking, one leg always
stays on the contact surface while the other is swinging in air. In running, there is typically a flight phase

Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion.
Bipedal walking can be achieved either with flat-foot or toe-foot walking
Flat-foot walking is more stable but slower, whereas toe-foot walking produces more natural and faster
motion.
Introduction

The mechanical structure of the robot is designed with compact modular parts so that the robot kinematics can be
modelled as a multi-point-mass system, and its dynamics are modelled applying the inverted pendulum model and
the zero-moment-point concept.
The robustness and stability of the walking gaits and posture in the presence of internal or external disturbances are
enhanced by adopting angular compensation with joint control techniques.

The most obvious difference between walking and running gait is that during walking,
one leg always stays on the contact surface while the other is swinging in air. In running,
there is typically a flight phase
Mechanical design of foot structures is reported in literature;
but mathematical
modelling, controller design and analysis of the foot structure
on a continuous uneven
terrain has not been carried out.
biped robot with a foot structure suitable for uneven terrain.

Novel aspects include a trajectory generator based on spline

collocation and a stabilizing controller based on hybrid
position/force control
Advantages of the selecting roll-over shape is experimental and computational model both are feasible.

The understanding of walking dynamics and mechanics of the foot-ground contact is important,
particularly in the design of prosthetic feet

The key design criteria are

Stability,
Energy requirements,
Making transfers,
Maintaining balance,
Changing walking speed,
Negotiating ramps and obstacles

Clinical gait analysis includes:

videotape examination,
measurement of general gait parameters,
kinematic analysis,
kinematic measurement and
electromyography.
The ‘heel to toe’ rolling contact has a great influence on the dynamics of biped robots,
understanding of the knee–ankle–foot kinematics along with the effect of the foot curvature.

The roll-over shape is characterised by following constants:

Forefoot, Midfoot, Hindfoot gains, Length values realistic roll-over shape with continuous slope
Variable curvature.

The effect of these constants and the roll-over shape

Arc length has been studied on various gait descriptors such as
average velocity,
step period,
inter-leg angle (and hence step length),
mechanical energy.

The foot for a biped robot has been modelled as either a point, a flat or a curved/circular foot.
Motivation
Technical aspect :
• Humanoid robots with the same dimensions, kinematic structure, and strength as humans can
operate in environments with steps, stairs, doors, etc. where humans can easily operate.
• They are also able to use equipment, tools and devices such as pliers, drills and vacuum cleaners
that are designed for human hands and feet.
• No dedicated robots for dedicated work. But One robot with general purpose. Say, Universal
Robot
• Recognition of floor and obstacles.

Design and control of the bipedal humanoid robot locomotion are challenging areas of research.

It is obvious to see that natural rough terrain is inaccessible to wheeled robots, and they neither can reach
floors above ground level in buildings without an elevator.

Currently, there does not exist an adequate measure to compare different control approaches on humanoid
robots. Implementation of most approaches is costly with respect to time, so it can take long before a
satisfactory walking algorithm has been found for a humanoid robot.
In short, even though, few bipeds are available in the market, which demonstrates basic walking
patterns but still, the bionic capability of Humanoid Robot has not reached up to the level of
Objective
 Develop a dynamic model,
 Gait generation,
 Stability analysis using motion planning and control for stable walking of a biped robot on a
o flat terrain,
o slope
o uneven terrain.
 Height of unevenness of the terrain and maximum angle with what speed that each foot
segment can move
 Adjustment of the Foot according to the terrain condition
 The stable ZMP position
 The position of the center of mass (COM) should be dynamically planned at each step
 The control law is derived such that the actual COM closely follows the reference COM
 Literature Survey
YEAR TITLE AUTHOR JOURNAL/ARTICLE CONCLUSION

2013 Modelling the effect of P. Mahmoodi, R.S. Applied mathematical A discrete pivot point roll-over
‘heel to toe’ roll-over Ransing, M.I. modelling model has been developed that
contact on the Friswell takes the roll-over shape as an
walking dynamics of input parameter and computes
passive biped robots its effect on the stability and
kinematics of passive biped robot.
The stiffness and
other adjustments used in an
optimal prosthesis design influence
the shape and size of the
corresponding roll-over shape.
 YEAR TITLE AUTHOR JOURNAL/ARTICLE CONCLUSION

2013 Foot Placement Kenji Hashimoto, The science of world The effect of areas on the feet
Modification for a Biped Kentaro Hattori, journal must be considered to realize a
Humanoid Robot with Takuya Otani, dynamic walk. The proposed
Narrow Feet Hun-Ok Lim  control modifies a foot placement
according to the robot’s attitude
angle.
Objective
 Develop solutions and governing equations of Humanoid Biped Robot for
 Increasing the Manoeuvrability on flat, inclined and uneven terrain and
 Maintaining the stability while reducing the foot surface area.

 Develop a dynamic model

(Develop a real situation mechanical models of the underactuated walking robots with precision)
 Gait generation
 Design of walking trajectory and Tracking of trajectory
 The weight of the model should be minimum without loosing the stiffness and robustness of the frame.
 Stability analysis using motion planning and control for stable walking of a biped robot on a
o flat terrain,
o slope
o uneven terrain.
 Height of unevenness of the terrain and maximum angle with what speed that each foot segment can
Definition of robot main axis coordinates and body parts
Modification of CoG and ZMP position
Methodology
 Geometrical Modelling
 Mathematical Modelling
 Inverse Kinematics
 Gait Planning
 Trajectory Planning
 Stability Analysis
 Velocity Analysis
 ZMP Calculation
 Governing Equation
 Simulation (Adams & V-rep)
 Validation
 Research Plan

First year Second year Third year Fourth year

Activity
1st Sem 2nd Sem 3rd Sem 4th Sem 5th Sem 6th Sem 7th Sem 8th Sem
Literature Review
Develop a dynamic model
Gait generation
Analysis and simulation based on
Stability and Motion control
Preliminary experiments
Analysis and interpretation of data
Experimentation with varying
concentrations and parameters
Thesis part & Final viva
 References

1. Kenji Hashimoto, Kentaro Hattori, Takuya Otani, Hun-Ok Lim , "Foot Placement Modification for a Biped Humanoid
Robot with Narrow Feet", The science of world journal, Volume 2014, Article ID 259570, 9 pages
2. P. Mahmoodi, R.S. Ransing, M.I. Friswell, "Modelling the effect of ‘heel to toe’ roll-over contact on the walking dynamics
of passive biped robots", Applied Mathematical Modelling, 37 (2013) 7352–7373
3. 
Thank you...