Quasi-inverse pendulum model of 12 DoF bipedal walking
This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foo...
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| Format: | Article |
| Language: | English English |
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Chinese Academy of Sciences
2017
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| Online Access: | http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf |
| _version_ | 1848785963099095040 |
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| author | Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin |
| author_facet | Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin |
| author_sort | Akhtaruzzaman, Md. |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulum (QIP) model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure (CoP). To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor (FSR) sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic (FK) and inverse kinematic (IK) investigations of the biped model where Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path. |
| first_indexed | 2025-11-14T17:01:29Z |
| format | Article |
| id | iium-63049 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:01:29Z |
| publishDate | 2017 |
| publisher | Chinese Academy of Sciences |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-630492018-05-07T02:10:09Z http://irep.iium.edu.my/63049/ Quasi-inverse pendulum model of 12 DoF bipedal walking Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulum (QIP) model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure (CoP). To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor (FSR) sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic (FK) and inverse kinematic (IK) investigations of the biped model where Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path. Chinese Academy of Sciences 2017-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf application/pdf en http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf Akhtaruzzaman, Md. and Shafie, Amir Akramin and Khan, Md. Raisuddin (2017) Quasi-inverse pendulum model of 12 DoF bipedal walking. International Journal of Automation and Computing, 14 (2). pp. 179-190. ISSN 1476-8186 https://link.springer.com/article/10.1007%2Fs11633-016-1023-1 10.1007/s11633-016-1023-1 |
| spellingShingle | TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Akhtaruzzaman, Md. Shafie, Amir Akramin Khan, Md. Raisuddin Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title | Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title_full | Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title_fullStr | Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title_full_unstemmed | Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title_short | Quasi-inverse pendulum model of 12 DoF bipedal walking |
| title_sort | quasi-inverse pendulum model of 12 dof bipedal walking |
| topic | TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery |
| url | http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf |