TY - GEN
T1 - SURALP-L - The leg module of a new humanoid robot platform
AU - Erbatur, Kemalettin
AU - Seven, Utku
AU - Taşkiran, Evrim
AU - Koca, Özer
AU - Kiziltaş, Güllü
AU - Ünel, Mustafa
AU - Sabanovic, Asif
AU - Onat, Ahmet
PY - 2008
Y1 - 2008
N2 - SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this leg module. 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 and inertial measurement systems. The control hardware is centered around a dSpace digital signal processor. A smooth walking trajectory is generated. A ground impact compensator, an early landing trajectory modification system, controllers for the foot and trunk orientation, and independent joint position controllers are implemented. Experimental walking results with the leg module are obtained too.
AB - SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this leg module. 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 and inertial measurement systems. The control hardware is centered around a dSpace digital signal processor. A smooth walking trajectory is generated. A ground impact compensator, an early landing trajectory modification system, controllers for the foot and trunk orientation, and independent joint position controllers are implemented. Experimental walking results with the leg module are obtained too.
UR - https://www.scopus.com/pages/publications/63549114161
U2 - 10.1109/ICHR.2008.4755963
DO - 10.1109/ICHR.2008.4755963
M3 - Conference contribution
AN - SCOPUS:63549114161
SN - 9781424428229
T3 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
SP - 168
EP - 173
BT - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
T2 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Y2 - 1 December 2008 through 3 December 2008
ER -