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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/23418
Title: Planning Adaptive Brachistochrone and Circular Arc Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
Authors: Bhardwaj G.
Mishra U.A.
Sukavanam, Nagarajan
Balasubramanian R.
Geetha G.
Zhou D.
Piuri V.
Published in: Journal of Physics: Conference Series
2020 International Conference on Robotics and Artificial Intelligence, RoAI 2020
Abstract: A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Trajectory of hip joint plays a significant role towards stability of the robot reason being the center of mass which lies approximately close to the hip position. Brachistochrone is the fastest descent trajectory for a particle moving only under the influence of gravity. In case of downstairs movement of robot, methodology for brachistochrone and circular arc trajectories for hip joint is developed. Here, an adaptive trajectory planning algorithm is implemented along with unsupervised artificial neural network (UANN) based inverse kinematics solution, so that biped robots of varying link lengths, masses can climb down on varying staircase dimensions. Zero Moment Point (ZMP) based COG trajectory is considered and its stability is ensured. Cycloidal trajectory is considered for ankle of the swing leg. Parameters of both cycloid and brachistochrone depends on dimensions of staircase steps. Hence this paper can be broadly divided into 4 steps 1) Developing ZMP based brachistochrone and circular arc trajectory for hip 2) Cycloidal trajectory planning for ankle by taking proper collision constraints 3) Solving Inverse kinematics using UANN 4) Comparison between both proposed hip trajectories. The proposed algorithms have been implemented using MATLAB®. © Published under licence by IOP Publishing Ltd.
Citation: Journal of Physics: Conference Series (2021), 1831(1)
URI: https://doi.org/10.1088/1742-6596/1831/1/012032
http://repository.iitr.ac.in/handle/123456789/23418
Issue Date: 2021
Publisher: IOP Publishing Ltd
Keywords: Hip prostheses
Inverse kinematics
Neural networks
Robot programming
Robotics
Robots
Stairs
Adaptive trajectory
Center of mass
Circular arc trajectory
Descent trajectories
Inverse kinematics solutions
Proper collision
Trajectory Planning
Zero moment point
Trajectories
ISSN: 17426588
Author Scopus IDs: 57216694035
57219311420
12804420600
7103127999
Author Affiliations: Bhardwaj, G., Computer Science and Engineering Department, IIT, Roorkee, 247667, India
Mishra, U.A., Mechanical and Industrial Engineering Department, IIT, Roorkee, 247667, India
Sukavanam, N., Mathematics Department, IIT, Roorkee, 247667, India
Balasubramanian, R., Computer Science and Engineering Department, IIT, Roorkee, 247667, India
Corresponding Author: Bhardwaj, G.; Computer Science and Engineering Department, India; email: gbhardwaj@cs.iitr.ac.in
Appears in Collections:Conference Publications [MA]

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