Experimental development of stiffness-variable foot sole mechanism for bipedal robots

This research aims to develop a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag, for use by bipedal robot walking on uneven ground. Zero Moment Point control based robots depends heavily on the accuracy of the modeling of the w...

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Main Author:	Ahmad Najmuddin, Ibrahim
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://umpir.ump.edu.my/id/eprint/7636/2/AHMAD_NAJMUDDIN_BIN_IBRAHIM.PDF
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id	my-ump-ir.7636
record_format	uketd_dc
spelling	my-ump-ir.76362021-08-18T04:55:19Z Experimental development of stiffness-variable foot sole mechanism for bipedal robots 2013 Ahmad Najmuddin, Ibrahim TJ Mechanical engineering and machinery This research aims to develop a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag, for use by bipedal robot walking on uneven ground. Zero Moment Point control based robots depends heavily on the accuracy of the modeling of the walking environment, making it weak towards outer disturbances such as uneven walking grounds. The purpose for the development of the foot sole mechanism is to increase the robustness of the Zero Moment Point control based bipedal robots against uneven ground surface irregularities. The mechanism is designed to make the foot sole be soft and compliant to adapt to the surface of an uneven terrain, and be stiff when the robot is in the support phase of the walking gait. Stiffness-variable property of the mechanism according to the internal air pressure of the bag is investigated. The stiffness that could be achieved by the proposed stiffness-variable mechanism is concluded to be enough to support a 60[kg] robot. To measure the effectiveness of the proposed mechanism when placed on an uneven ground, an experiment using a single robot leg to simulate the change in Zero Moment Point when a bipedal robot is in a single leg support gait cycle had been performed. From the measured ZMP position trajectory, when the proposed foot sole mechanism is used, the robot is able to maintain the same ZMP trajectory as when the robot is moving on a flat ground using a rigid sole, even when obstacles is randomly placed under the foot sole. It is concluded that the proposed stiffness-variable foot sole mechanism allows better ZMP measurement and control on uneven ground. 2013 Thesis http://umpir.ump.edu.my/id/eprint/7636/ http://umpir.ump.edu.my/id/eprint/7636/2/AHMAD_NAJMUDDIN_BIN_IBRAHIM.PDF application/pdf en public masters Ibaraki University, Japan Graduate School Of Science and Engineering
institution	Universiti Malaysia Pahang Al-Sultan Abdullah
collection	UMPSA Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Ahmad Najmuddin, Ibrahim Experimental development of stiffness-variable foot sole mechanism for bipedal robots
description	This research aims to develop a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag, for use by bipedal robot walking on uneven ground. Zero Moment Point control based robots depends heavily on the accuracy of the modeling of the walking environment, making it weak towards outer disturbances such as uneven walking grounds. The purpose for the development of the foot sole mechanism is to increase the robustness of the Zero Moment Point control based bipedal robots against uneven ground surface irregularities. The mechanism is designed to make the foot sole be soft and compliant to adapt to the surface of an uneven terrain, and be stiff when the robot is in the support phase of the walking gait. Stiffness-variable property of the mechanism according to the internal air pressure of the bag is investigated. The stiffness that could be achieved by the proposed stiffness-variable mechanism is concluded to be enough to support a 60[kg] robot. To measure the effectiveness of the proposed mechanism when placed on an uneven ground, an experiment using a single robot leg to simulate the change in Zero Moment Point when a bipedal robot is in a single leg support gait cycle had been performed. From the measured ZMP position trajectory, when the proposed foot sole mechanism is used, the robot is able to maintain the same ZMP trajectory as when the robot is moving on a flat ground using a rigid sole, even when obstacles is randomly placed under the foot sole. It is concluded that the proposed stiffness-variable foot sole mechanism allows better ZMP measurement and control on uneven ground.
format	Thesis
qualification_level	Master's degree
author	Ahmad Najmuddin, Ibrahim
author_facet	Ahmad Najmuddin, Ibrahim
author_sort	Ahmad Najmuddin, Ibrahim
title	Experimental development of stiffness-variable foot sole mechanism for bipedal robots
title_short	Experimental development of stiffness-variable foot sole mechanism for bipedal robots
title_full	Experimental development of stiffness-variable foot sole mechanism for bipedal robots
title_fullStr	Experimental development of stiffness-variable foot sole mechanism for bipedal robots
title_full_unstemmed	Experimental development of stiffness-variable foot sole mechanism for bipedal robots
title_sort	experimental development of stiffness-variable foot sole mechanism for bipedal robots
granting_institution	Ibaraki University, Japan
granting_department	Graduate School Of Science and Engineering
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/7636/2/AHMAD_NAJMUDDIN_BIN_IBRAHIM.PDF
_version_	1783731928487165952

Experimental development of stiffness-variable foot sole mechanism for bipedal robots

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