Stability and Dynamic Walk Control of Humanoid Robot for Robot Soccer Player
Machines, ISSN: 2075-1702, Vol: 10, Issue: 6
2022
- 10Citations
- 15Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Article Description
Robotic football with humanoid robots is a multidisciplinary field connecting several scientific fields. A challenging task in the design of a humanoid robot for the AndroSot and HuroCup competitions is the realization of movement on the field. This study aims to determine a walking pattern for a humanoid robot with an impact on its dynamic stability and behavior. The design of the proposed technical concept depends on its stability management mechanism, walking speed and such factors as the chosen stability approaches. The humanoid robot and its versatility, along with the adaptability of the terrain, are somewhat limited due to the complexity of the walking principle and the control of the robot’s movement itself. The technical concept uses dynamic stability as the potential force of the inertial bodies and their parts so that the humanoid robot does not overturn. The total height of the robot according to the rules of the competition will be 50 cm. In the performed experiment, only the lower part of the humanoid robot with added weight was considered, which is more demanding due to the non-use of the upper limbs for stabilization. The performed experiment verified the correctness of the design, where the torso of the robot performed eight steps in inclinations of a roll angle +4/−2 and a pitch angle +4/−6.
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