SURALP: A new full-body humanoid robot platform

Kemalettin Erbatur*, Utku Seven, Evrim Taşkiran, Özer Koca, Metin Yilmaz, Mustafa Ünel, Güllü Kiziltaş, Asif Sabanovic, Ahmet Onat

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4949-4954
Number of pages6
DOIs
Publication statusPublished - 11 Dec 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 11 Oct 200915 Oct 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period11/10/0915/10/09

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