A Study on Bipedal And Mobile Robot Behavior through Modeling And Simulation

The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV) developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

[1]  N. Mir-Nasiri,et al.  Joint space legs trajectory planning for optimal hip-mass carry walk of 4-DOF parallelogram bipedal robot , 2010, 2010 IEEE International Conference on Mechatronics and Automation.

[2]  Dmitry Berenson,et al.  A robot path planning framework that learns from experience , 2012, 2012 IEEE International Conference on Robotics and Automation.

[3]  Atsuo Kawamura,et al.  Bipedal robot walking strategy on inclined surfaces using position and orientation based inverse kinematics algorithm , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[4]  Jerry E. Pratt,et al.  Stable adaptive control of a bipedal walking; robot with CMAC neural networks , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[5]  Karsten Berns,et al.  Biologically motivated push recovery strategies for a 3D bipedal robot walking in complex environments , 2013, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[6]  Hirochika Inoue,et al.  Two-armed bipedal robot that can walk, roll over and stand up , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[7]  Aaron D. Ames,et al.  Human-Inspired Control of Bipedal Walking Robots , 2014, IEEE Transactions on Automatic Control.

[8]  Michael Suppa,et al.  Detection of stair dimensions for the path planning of a bipedal robot , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[9]  Chen Lumin,et al.  The Design of Bionic Leg and Motion Simulation on Passive Dynamic Bipedal Robot , 2010, 2010 International Conference on Digital Manufacturing & Automation.

[10]  Jerry E. Pratt,et al.  Intuitive control of a planar bipedal walking robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  Ulrich Nehmzow.  On the Role of Quantitative Descriptions of Behaviour in Mobile Robotics Research , 2003, RoboCup.

[12]  Georg Pelz,et al.  Mechatronic Systems: Modelling and Simulation with HDLs , 2003 .

[13]  Tatsuya Suzuki,et al.  Supervisory control of periodic stepping motion of a bipedal robot , 2011, SICE Annual Conference 2011.

[14]  Christopher Nielsen,et al.  Hybrid virtual holonomic constraints for a 2-D.O.F. bipedal robot , 2015, 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE).

[15]  M. Sampei,et al.  The Control of a Bipedal Running Robot based on Output Zeroing considered Rotation of the Ankle Joint , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[16]  Yasuhiro Ota,et al.  Wire-Driven Bipedal Robot , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Fethi Ben Ouezdou,et al.  Dynamic balance of a bipedal robot with trunk and arms subjected to 3D external disturbances , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Mitsuharu Morisawa,et al.  Obstacle detection for a bipedal walking robot by a fisheye stereo , 2013, Proceedings of the 2013 IEEE/SICE International Symposium on System Integration.

[19]  Ashwin Sushil Kumar,et al.  Design and fabrication of bipedal robot , 2014, Fifth International Conference on Computing, Communications and Networking Technologies (ICCCNT).

[20]  Ching-Long Shih,et al.  Asymptotically Stable Walking of a Simple Underactuated 3D Bipedal Robot , 2007, IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.