Applied and Computational Engineering

- The Open Access Proceedings Series for Conferences


Proceedings of the 3rd International Conference on Signal Processing and Machine Learning

Series Vol. 4 , 30 May 2023


Open Access | Article

Increasing step size of the 4-link robotic simulator in stable state

H Ji * 1
1 College of Engineering, University of California, Davis, 4501 Alhambra Dr. APT255, Davis, CA, 95618, USA

* Author to whom correspondence should be addressed.

Applied and Computational Engineering, Vol. 4, 38-43
Published 30 May 2023. © 2023 The Author(s). Published by EWA Publishing
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Citation H Ji. Increasing step size of the 4-link robotic simulator in stable state. ACE (2023) Vol. 4: 38-43. DOI: 10.54254/2755-2721/4/20230343.

Abstract

In this research, the 4-Link Robotic Simulator program in MATLAB is utilized to find the relation between the length of the links and the length of the two feet. While a few previous research focused on the zero-moment point (ZMP) of the robot geometry, this neglects the change of the position of ZMP in the processes of locomotion. The simulation model is introduced to present an integrated locomotion process of the robot. The testing method was developed based on the comparison between the simulation results from MATLAB. Three different scenarios are analyzed and compared to the original outcome. The main finding of this research is concluded as the length of L5 and L6 should not be smaller than the length of L2 and L3. The critical length of the L5 and L6 was determined as 3.0065.

Keywords

Center of Mass, Simulation, Stability, Link Length, Zero Moment Point

References

1. DSHardman, “DSHARDMAN/4linksimulator: MATLAB simulator for a 4-link robot, teaching basic robotic principles,” GitHub. [Online]. Available: https://github.com/DSHardman/4linksimulator. [Accessed: 23-Jun-2022]. H. Simpson, Dumb Robots, 3rd ed., Springfield: UOS Press, 2004, pp.6-9.

2. Goswami, A., Thuilot, B., & Espiau, B. (1996). Compass-like biped robot part I: Stability and bifurcation of passive gaits (Doctoral dissertation, INRIA).

3. McMahon, T. A., & Cheng, G. C. (1990). The mechanics of running: how does stiffness couple with speed?. Journal of biomechanics, 23, 65-78.

4. Geyer, H., Seyfarth, A., & Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society B: Biological Sciences, 273(1603), 2861-2867.

5. Aller, F., Harant, M., Sontag, S., Millard, M., & Mombaur, K. (2021, September). I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C. IROS (pp. 5357-5363). IEEE.

6. Herr, H., & Popovic, M. (2008). Angular momentum in human walking. Journal of experimental biology, 211(4), 467-481.

7. Shkolnik, A., & Tedrake, R. (2007, April). Inverse kinematics for a point-foot quadruped robot with dynamic redundancy resolution. In Proceedings 2007 IEEE International Conference on Robotics and Automation (pp. 4331-4336). IEEE.

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9. Dutta, S., Maiti, T. K., Miura-Mattausch, M., Ochi, Y., Yorino, N., & Mattausch, H. J. (2020). Analysis of sensor-based real-time balancing of humanoid robots on inclined surfaces. IEEE Access, 8, 212327-212338.

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Data Availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

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Volume Title
Proceedings of the 3rd International Conference on Signal Processing and Machine Learning
ISBN (Print)
978-1-915371-55-3
ISBN (Online)
978-1-915371-56-0
Published Date
30 May 2023
Series
Applied and Computational Engineering
ISSN (Print)
2755-2721
ISSN (Online)
2755-273X
DOI
10.54254/2755-2721/4/20230343
Copyright
© 2023 The Author(s)
Open Access
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited

Copyright © 2023 EWA Publishing. Unless Otherwise Stated