Biped robot modeling with reflex function for standing stability analysis and control.
Jhoan Sebastian Rodriguez Rodriguez1; Ricardo Emiro Ramírez Heredia1
1 Universidad Nacional de Colombia
doi:10.20906/CPS/COB-2015-0771
Resumo
This work shows a general 12 DOF biped robot model with a reflex function to overcome external perturbations with an articular control for maintaining standing stability. A parameterized system is developed under SimMechanics 3D virtual environment from Matlab. Initially it is configured as an anthropomorphic model. The system uses some necessary internal and external parameters for the study of body dynamics stability, such as, link inertias, joint restrictions, ground interactions, and articular trajectory control. The reflex functions allows the robot to detect external perturbations which are modeled by measurement of the structure centroid and the identification of critical events that try to destabilize the model. Next, the stability is reached through articular control of the lower limbs; its relocation, effects on the center of mass and pressure distribution on the contact surface. Consequently, the system is evaluated to determine how the modeling method allows to find the sensibility of any dynamic biped model under external perturbations or initial pose conditions. The proposed modeling method permits the resolution to find perturbations able to destabilize biped robots.
Palavras-chave: Biped Robot; Stability Control; Reflex Modeling; Humanoid Robot