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Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot

Published online by Cambridge University Press:  22 November 2016

Majid Sadedel ,
Aghil Yousefi-Koma ,
Majid Khadiv  and
Mohhamad Mahdavian
Majid Sadedel
Affiliation:
Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails: [email protected], [email protected]
Aghil Yousefi-Koma*
Affiliation:
Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails: [email protected], [email protected]
Majid Khadiv
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran. E-mail: [email protected]
Mohhamad Mahdavian
Affiliation:
Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

Adding active toe joints to a humanoid robot structure has lots of difficulties such as mounting a small motor and an encoder on the robot feet. Conversely, adding passive toe joints is simple, since it only consists of a spring and a damper. Due to lots of benefits of implementing passive toe joints, mentioned in the literature, the goal of this study is to add passive toe joints to the SURENA III humanoid robot which was designed and fabricated at the Center of Advanced Systems and Technologies (CAST), University of Tehran. To this end, a simple passive toe joint is designed and fabricated, at first. Then, stiffness and damping coefficients are calculated using a vision-based measurement. Afterwards, a gait planning routine for humanoid robots equipped with passive toe joints is implemented. The tip-over stability of the gait is studied, considering the vibration of the passive toe joints in swing phases. The multi-body dynamics of the robot equipped with passive toe joints are presented using the Lagrange approach. Furthermore, system identification routine is adopted to model the dynamic behaviors of the power transmission system. By adding the calculated actuating torques for these two models, the whole dynamic model of the robot is computed. Finally, the performance of the proposed approach is evaluated by several simulations and experimental results. Results show that using passive toe joints reduces energy consumption of ankle and knee joints by 15.3% and 9.0%, respectively. Moreover, with relatively large values of stiffness coefficients, the required torque and power of the knee and hip joints during heel-off motion reduces as the ankle joint torque and power increases.

Keywords

Humanoid robotPassive toe jointsDynamic modelSystem identificationParametric analysis
Type
Articles
Information
Robotica , Volume 35 , Issue 11 , November 2017 , pp. 2099 - 2121
Copyright
Copyright © Cambridge University Press 2016 

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