TY - JOUR
T1 - Design and control of the humanoid robot SURALP
AU - Erbatur, Kemalettin
AU - Seven, Utku
AU - Taşkiran, Evrim
AU - Koca, Özer
AU - Yilmaz, Metin
AU - Ünel, Mustafa
AU - Şendur, Güllü Kiziltaş
AU - Şabanoviç, Asif
AU - Onat, Ahmet
PY - 2011
Y1 - 2011
N2 - SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University - Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and Zero Moment Point (ZMP) regulation, and independent joint position controllers are used in zeroing and walking. A smooth walking trajectory is employed. Experimental results indicate that the reference generation and control algorithms are successful in achieving a stable and continuous walk.
AB - SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University - Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and Zero Moment Point (ZMP) regulation, and independent joint position controllers are used in zeroing and walking. A smooth walking trajectory is employed. Experimental results indicate that the reference generation and control algorithms are successful in achieving a stable and continuous walk.
KW - Biped robot walking reference generation
KW - Humanoid robot
UR - http://www.scopus.com/inward/record.url?scp=79960226715&partnerID=8YFLogxK
U2 - 10.3906/elk-1007-595
DO - 10.3906/elk-1007-595
M3 - Article
AN - SCOPUS:79960226715
SN - 1300-0632
VL - 19
SP - 725
EP - 731
JO - Turkish Journal of Electrical Engineering and Computer Sciences
JF - Turkish Journal of Electrical Engineering and Computer Sciences
IS - 5
ER -
