TY - GEN
T1 - Implementation of Untethered Biped Robots Utilizing Serial-Parallel Hybrid Leg Mechanisms
AU - Hirashima, Kenta
AU - Myers, Noboru
AU - Zamora, Daniel Campos
AU - Gim, Kevin G.
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, we present a new, standalone bipedal robot system that features Hybrid Leg linkages and a 2-DOF neck to incorporate a camera. An online walking pattern generator using ZMP preview control enables remote robot operation based on user commands. The foot trajectory is modified by IMU sensor feedback for stabilization. Taking advantage of the low structural inertia of Hybrid Leg, the effectiveness of bipedal locomotion with pattern generation based on the cart-table model is tested. Given the bio-inspired nature of the Hybrid Leg structure, the gait pattern is chosen to emulate that of humans. We demonstrate bipedal locomotion on an approximately flat table while controlling it remotely. Simultaneous control of two Hybrid Leg bipedal robots is also shown to highlight the performance of the system.
AB - In this paper, we present a new, standalone bipedal robot system that features Hybrid Leg linkages and a 2-DOF neck to incorporate a camera. An online walking pattern generator using ZMP preview control enables remote robot operation based on user commands. The foot trajectory is modified by IMU sensor feedback for stabilization. Taking advantage of the low structural inertia of Hybrid Leg, the effectiveness of bipedal locomotion with pattern generation based on the cart-table model is tested. Given the bio-inspired nature of the Hybrid Leg structure, the gait pattern is chosen to emulate that of humans. We demonstrate bipedal locomotion on an approximately flat table while controlling it remotely. Simultaneous control of two Hybrid Leg bipedal robots is also shown to highlight the performance of the system.
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U2 - 10.1109/Humanoids58906.2024.10769967
DO - 10.1109/Humanoids58906.2024.10769967
M3 - Conference contribution
AN - SCOPUS:85214500208
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 227
EP - 233
BT - 2024 IEEE-RAS 23rd International Conference on Humanoid Robots, Humanoids 2024
PB - IEEE Computer Society
T2 - 23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024
Y2 - 22 November 2024 through 24 November 2024
ER -