TY - GEN
T1 - SURALP
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
AU - Erbatur, Kemalettin
AU - Seven, Utku
AU - Taşkiran, Evrim
AU - Koca, Özer
AU - Yilmaz, Metin
AU - Ünel, Mustafa
AU - Kiziltaş, Güllü
AU - Sabanovic, Asif
AU - Onat, Ahmet
PY - 2009/12/11
Y1 - 2009/12/11
N2 - SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on 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. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.
AB - SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on 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. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot-ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.
UR - http://www.scopus.com/inward/record.url?scp=76249087928&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354276
DO - 10.1109/IROS.2009.5354276
M3 - Conference contribution
AN - SCOPUS:76249087928
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4949
EP - 4954
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -
