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

H Ji

doi:10.54254/2755-2721/4/20230343

Research Article

Open access

Published on 30 May 2023

Download pdf

Ji,H. (2023). Increasing step size of the 4-link robotic simulator in stable state. Applied and Computational Engineering,4,38-43.

Export citation

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.

https://doi.org/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

View pdf

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.

[8]. Tedrake, R., Byl, K., & Pratt, J. E. (2006). Probabilistic stability in legged systems: Metastability and the mean first passage time (FPT) stability margin.

[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.

[10]. Vukobratović, M., & Stepanenko, J. (1972). On the stability of anthropomorphic systems. Mathematical biosciences, 15(1-2), 1-37.

Cite this article

Ji,H. (2023). Increasing step size of the 4-link robotic simulator in stable state. Applied and Computational Engineering,4,38-43.

Data availability

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

Disclaimer/Publisher's Note

The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of EWA Publishing and/or the editor(s). EWA Publishing and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content.

About volume

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

Conference website: http://www.confspml.org

ISBN：978-1-915371-55-3(Print) / 978-1-915371-56-0(Online)

Conference date: 25 February 2023

Editor：Omer Burak Istanbullu

Series: Applied and Computational Engineering

Volume number: Vol.4

ISSN：2755-2721(Print) / 2755-273X(Online)

© 2024 by the author(s). Licensee EWA Publishing, Oxford, UK. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license. Authors who publish this series agree to the following terms:
1. Authors retain copyright and grant the series right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this series.
2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the series's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this series.
3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See Open access policy for details).