Open AccessCYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT
Author(s) -
E P Jesus Fierro,
Víctor De-León-Gómez
Publication year - 2019
Publication title -
eureka, physics and engineering./eureka, physics and engineering
Language(s) - English
Resource type - Journals
eISSN - 2461-4262
pISSN - 2461-4254
DOI - 10.21303/2461-4262.2019.001057
Subject(s) - zero moment point , humanoid robot , gait , robot , computer science , stability (learning theory) , control theory (sociology) , trajectory , revolute joint , simulation , physical medicine and rehabilitation , artificial intelligence , control (management) , physics , medicine , astronomy , machine learning
The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.