On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance

0563904 - ÚTIA 2023 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Papáček, Štěpán - Polach, P. - Prokýšek, R. - Anderle, Milan
On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance.
Proceedings of the 37th conference on COMPUTATIONAL MECHANICS 2022 (CM 2022). Plzeň: University of West Bohemia, 2022, s. 99-102. ISBN 978-80-261-1116-0.
[Conference on COMPUTATIONAL MECHANICS 2022 (CM 2022) /37./. Srní (CZ), 07.11.2022-09.11.2022]
Grant CEP: GA ČR(CZ) GA21-03689S
Institucionální podpora: RVO:67985556
Klíčová slova: Walking robot * ALASCA * Simulation
Obor OECD: Robotics and automatic control
http://library.utia.cas.cz/separaty/2022/TR/papacek-0563904.pdf

Biped underactuated robots with an upper body (being a torso) form a subclass of legged robots. This study deals with the walking performance of such class of legged robot models and has been motivated by the need to implement of the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation (UTIA) of the Czech Academy of Sciences, see Fig. 1 (left). A detailed description of this underactuated walking-like mechanical system (called further UTIA Walking Robot – UWR) is provided in [2] and [5]. The simplest underactuated walking robot hypothetically able to walk is the so-called Compass gait biped walker, alternatively called the Acrobot, see Fig. 1 (right). For a review of underactuated mechanical systems, i.e. systems with fewer actuators than degrees of freedom, which encounter many applications in different fields (e.g., in robotics, in aeronautical and spatial systems, in marine and underwater systems, and in-flexible and mobile systems), see [3]. As follows, we examine the walking performance of parametrized models for different walking regimes and different values of model parameters. More specifically, the sensitivity analysis (i.e., parameter study) of the walking performance with respect to certain design variables (model parameters) is carried out using the software package alaska/MultibodyDynamics. The main attention is attracted to the role of the upper body mass m3 and position lc3, see Fig. 1 (right). Last but not least, having surveyed the mechanics of planar biped robots, our subsequent goal is the analysis of a 3D biped model where lateral balance is either controlled, suppressed or compensated.
Trvalý link: https://hdl.handle.net/11104/0335688