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PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT

It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at...

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Main Authors: Mohd Shaari Azyze, Nur Latif Azyze, Razali, Muhammad Razmi, Md Isa, Ida Syafiza, Miskon, Muhammad Fahmi
Format: Article
Language:English
Published: Sun Publication 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utem.edu.my/id/eprint/10105/1/IJRET_110208003_PARAMETER_STUDY_OF_STABLE_WAKING_GAITS_FOR_NAO_HUMANOID_ROBOT.pdf
http://eprints.utem.edu.my/id/eprint/10105/
http://ijret.org/
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spelling my.utem.eprints.101052015-05-28T04:09:09Z http://eprints.utem.edu.my/id/eprint/10105/ PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT Mohd Shaari Azyze, Nur Latif Azyze Razali, Muhammad Razmi Md Isa, Ida Syafiza Miskon, Muhammad Fahmi TK Electrical engineering. Electronics Nuclear engineering It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Sun Publication 2013-08-31 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/10105/1/IJRET_110208003_PARAMETER_STUDY_OF_STABLE_WAKING_GAITS_FOR_NAO_HUMANOID_ROBOT.pdf Mohd Shaari Azyze, Nur Latif Azyze and Razali, Muhammad Razmi and Md Isa, Ida Syafiza and Miskon, Muhammad Fahmi (2013) PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT. Internaltional Journal of Reseach Engineering and Technology, 2 (08). pp. 16-23. ISSN 2319-1163 http://ijret.org/
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Shaari Azyze, Nur Latif Azyze
Razali, Muhammad Razmi
Md Isa, Ida Syafiza
Miskon, Muhammad Fahmi
PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
description It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1.
format Article
author Mohd Shaari Azyze, Nur Latif Azyze
Razali, Muhammad Razmi
Md Isa, Ida Syafiza
Miskon, Muhammad Fahmi
author_facet Mohd Shaari Azyze, Nur Latif Azyze
Razali, Muhammad Razmi
Md Isa, Ida Syafiza
Miskon, Muhammad Fahmi
author_sort Mohd Shaari Azyze, Nur Latif Azyze
title PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
title_short PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
title_full PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
title_fullStr PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
title_full_unstemmed PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT
title_sort parameter study of stable walking gaits for nao humanoid robot
publisher Sun Publication
publishDate 2013
url http://eprints.utem.edu.my/id/eprint/10105/1/IJRET_110208003_PARAMETER_STUDY_OF_STABLE_WAKING_GAITS_FOR_NAO_HUMANOID_ROBOT.pdf
http://eprints.utem.edu.my/id/eprint/10105/
http://ijret.org/
_version_ 1665905412283564032
score 13.211869

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