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# An Improved Trajectory of Bipedal Robot Walking along a Step with Dual Length Linear Inverted Pendulum Method(DLLIPM)

Ali @ Ibrahim, Fariz (2013) An Improved Trajectory of Bipedal Robot Walking along a Step with Dual Length Linear Inverted Pendulum Method(DLLIPM). PhD thesis, Yokohama National University.

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## Abstract

Biped robot should be robust and able to move or explore freely in human environments. Therefore, many researchers have explored the biped robot research in certain environments such as on uneven surface, slope and stairs. Research for biped robot walking on slope and stairs have been started since 90s. However, it is not reported that the mentioned research are done for walking along stair. Therefore, in this dissertation the research related to biped robot walking along a step is chosen for further investigation. The main parts in this dissertation are chapter 4 and 5 where we proposed a new method to obtain walking parameters for 2 (2-D) and 3-dimensional (3-D) of biped walking along a step. First, the derivations are shown for 2-D cases which are sagittal and lateral. Then, the method is extended for the 3-D case. As mentioned earlier, it is realized that many researchers concentrated on walking directions of climbed up or down of stairs only. In conventional methods, center of mass (CoM) moved up or down during walking in this situation because the height of pendulum is kept at the same length at the left and right legs. Thus, extra effort is required in order to bring the CoM up to the higher ground. In order to improve this situation, different height of pendulum is applied at the left and right legs and named as dual length linear inverted pendulum method (DLLIPM). However, when different height of pendulum is applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between sagittal and lateral planes are not confirmed. Therefore, DLLIPM with Newton-Raphson algorithm is proposed to solve these problems. In our proposed method, the walking pattern for sagittal and lateral planes are designed systematically and synchronization between them is ensured. As for confirmation, the proposed method is verified by the simulation and experimental results. It is realized from the results that the maximum impact forces are reduced with our proposed method.

Item Type: Thesis (PhD) T Technology > TK Electrical engineering. Electronics Nuclear engineering Faculty of Electrical Engineering > Department of Mechatronics Engineering En. Fariz Ali 15 Jul 2013 09:05 28 May 2015 03:56 http://eprints.utem.edu.my/id/eprint/8488