Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid

Dmitry Popov, Alexandr Klimchik, Ilya Afanasyev

Abstract

This paper presents a low-cost anthropomorphic robot, considering its design, simulation, manufacturing and experiments. The robot design was inspired by open source Poppy Humanoid project and enhanced up to 12 DoF lower limb structure, providing additional capability to develop more natural, fast and stable biped robot walking. The current robot design has a non-spherical hip joint, that does not allow to use an analytical solution for the inverse kinematics, therefore another hybrid solution was presented. Problem of robot joint’s compliance was addressed using virtual joint method for stiffness modeling with further compensation of elastic deflections caused by the robot links weight. Finally, we modeled robot’s lower-part in V-REP simulator, manufactured its prototype using 3D printing technology, and implemented ZMP preview control, providing experiments with demonstration of stable biped locomotion.

Download


Paper Citation


in Harvard Style

Popov D., Klimchik A. and Afanasyev I. (2017). Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 66-78. DOI: 10.5220/0006432000660078


in Bibtex Style

@conference{icinco17,
author={Dmitry Popov and Alexandr Klimchik and Ilya Afanasyev},
title={Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={66-78},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006432000660078},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Design and Stiffness Analysis of 12 DoF Poppy-inspired Humanoid
SN - 978-989-758-264-6
AU - Popov D.
AU - Klimchik A.
AU - Afanasyev I.
PY - 2017
SP - 66
EP - 78
DO - 10.5220/0006432000660078