TY - GEN
T1 - Investigating Modular Relative Jacobian Control for Bipedal Robot
AU - Jamisola, Rodrigo S.
AU - Mbedzi, Olebogeng
AU - Makati, Tlamelo
AU - Roberts, Rodney G.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper presents a new method of generating walking motion for bipedal robots through modular relative Jacobian, that is normally used for dual-arms. In this paper, the two legs are equivalent to the two arms of the dual-arm, while the two feet are equivalent to the two end-effectors of the dualarm. Two legs, each with three degrees-of-freedom (3-DOFs), are combined to form a 6-DOFs bipedal robot. Then the 3-DOFs relative position between the two feet of the bipedal robot are controlled as the relative end-effectors of the relative Jacobian, while the remaining 3-DOFs are used to control the robot posture. As in a robot manipulator control, the first priority is the relative feet motion, while the second priority is bipedal robot posture in the null space. It is noted that if individual leg control for each foot was used, with 3-DOFs control on each foot, there will be no more DOFs to control the biped robot posture. The control uses dynamics information on inertia, gravitational torques, and dynamically consistent relative Jacobian inverse. Bipedal walking simulation is shown in Gazebo.
AB - This paper presents a new method of generating walking motion for bipedal robots through modular relative Jacobian, that is normally used for dual-arms. In this paper, the two legs are equivalent to the two arms of the dual-arm, while the two feet are equivalent to the two end-effectors of the dualarm. Two legs, each with three degrees-of-freedom (3-DOFs), are combined to form a 6-DOFs bipedal robot. Then the 3-DOFs relative position between the two feet of the bipedal robot are controlled as the relative end-effectors of the relative Jacobian, while the remaining 3-DOFs are used to control the robot posture. As in a robot manipulator control, the first priority is the relative feet motion, while the second priority is bipedal robot posture in the null space. It is noted that if individual leg control for each foot was used, with 3-DOFs control on each foot, there will be no more DOFs to control the biped robot posture. The control uses dynamics information on inertia, gravitational torques, and dynamically consistent relative Jacobian inverse. Bipedal walking simulation is shown in Gazebo.
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U2 - 10.1109/CIS-RAM47153.2019.9095768
DO - 10.1109/CIS-RAM47153.2019.9095768
M3 - Conference contribution
AN - SCOPUS:85085862166
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 428
EP - 432
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -