Modelling and stable walking

analysis of 6 degrees of freedom

biped robot

Presented by
Geo Jose, A P Sudheer
Mechatronics/Robotics laboratory
Dept. of Mechanical Engg
National institute of technology, Calicut
E-mail: geojose1987@gmail.com
 Introduction
• Assistance Replacement

• Automation Complete replacement

Humanoids/Bipeds

• Non-anthropomorphic robots

Redesign of human environment

• Biped Dynamically unstable

compensated by larger foot size

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 Objective

• Dynamic stability analysis of a 6 dof biped

walking on a flat terrain based on ZMP
criterion
• Design a foot which satisfies the locomotion
requirements

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 Methodology

• Kinematic modelling
• Denavit-Hartenberg method

• Inverse kinematics
• Iterative method(Levenberg-Marquardt method)

• Dynamic modelling
• Newton-Euler algorithm

• Stability analysis
• Both in sagital and frontal plane based on ZMP

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Biped model
X2
X3
?3 l3
?4
Z2
Z3

l2 l4
X4
X1
?2 ?5
Z1 Z4

l5
l1
X0,X01 X5,X6

Y0,Y01
?6
l0
?1 Z5
Z0, Z01 Z6
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D-H modelling

Dept. of Mechanical Engg, NITC 6

 Biped mass and dimensions

Mass M0 M1 M2 M3
Kg 0.068 0.115 0.115 0.080
Link length l0 l1 l2 l3
Meter 0.032 0.070 0.075 0.109

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Ai= i-1Ti=

Ai=

Where, i =1, 2,…,6

• pose of end-effector with respect to base frame=0T6

Where,
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0T = 0T *1T *……….*5T
6 1 2 6
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 Trajectory planning
• Cartesian space trajectory planning
• Cycloid function is used

• Step length of 0.2mis taken

• 20 break points are taken on the trajectory

• Pose corresponding to each of these points is

computed. (4x4 transformation matrix)
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 Inverse kinematics

• 0T6= (4x4 pose matrix)

• 6 equations and 6 unknowns;

• Non-linear simultaneous equations involving
trigonometric functions makes the solution set
more complex
• Solution set is infinite
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 Inverse kinematic solution
• Algebraic, geometric and iterative methods
• Non-traditional search techniques such as
Artificial Neural Networks(ANN), Simulated
Annealing(SA)
• Levenberg-Marquardt algorithm is used to
obtain solutions

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 Dynamic
analysis

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 Assumptions
• During single support phase stance foot is
assumed to remain in flat contact on the ground
• Impact is assumed to be perfectly inelastic
• All links are assumed to be slender with CoM
(Centre of mass) and centeroid coinciding
• Force on swing leg is zero
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 Stability criteria-ZMP
• The zero moment point is the point through which a
ground reaction force would need to pass in order to
satisfy dynamic equilibrium of the robot for a given
motion
• Biped is stable if ZMP is within the support polygon
created by the feet
• Then the ankles can transmit the resulting moment

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 ZMP cont...

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 ZMP cont...

=0

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 RESULTS

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Results......

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 ZMP

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Conclusion
• For a step length of 20cms ZMP will stay well
with in a square foot having side 6cms
• Design torques for controller design for the
proposed gait is computed
• Since infinite set of gaits are possible; Some
optimisation technique is to be used to get an
optimum foot size for a particular step length

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References
• J. Angeles, Fundamentals of robotic mechanical systems:
theory, methods, and algorithms. Springer Verlag, 2007.
• M. Raibert et al., Legged robots that balance. MIT press
Cambridge, MA, 1986.
• F. Silva, T. Machado et al., “Energy analysis during biped
walking,” Proceedings of 1999 IEEE International Conference
on Robotics and Automation, vol. 1, IEEE, pp. 59–64, 2002.
• Z. Tang, C. Zhou, and Z. Sun., “Trajectory planning for smooth
transition of a biped robot”, Proceedings of ICRA’03 IEEE
International Conference in Robotics and Automation, 2003,
vol. 2, IEEE, 2003, pp. 2455–2460.

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• P. Vadakkepat and D. Goswami, “Biped locomotion: stability,
analysis and control,” Robotica, vol. 27, no. 1, pp. 355–365,
2009.
• M. Vukobratovic and B. Borovac., “Zero-moment point-thirty
five years of its life”, International Journal of Humanoid
Robotics, vol. 1, no. 1, pp. 157–173, 2004.
• T. Zieli’nska, C. Chew, P. Kryczka, and T. Jargilo., “Robot gait
synthesis using the scheme of human motions skills
development”, Mechanism and Machine Theory, vol. 44, no.
3, pp. 541–558, 2009.

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 THANK YOU

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