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Authors: Dmitry Popov ; Alexandr Klimchik and Ilya Afanasyev

Affiliation: Innopolis University, Russian Federation

ISBN: 978-989-758-264-6

Keyword(s): Stiffness Modeling, Human Mechatronics, Motion Control Systems, Robot Kinematics.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Robotics and Automation

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.

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Paper citation in several formats:
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

@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},
}

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

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