Toward a Human-like Locomotion: Modelling Dynamically Stable Locomotion of an Anthropomorphic Robot in Simulink Environment

Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev, Evgeni Magid

2015

Abstract

In the near future anthropomorphic robots will turn into an important part of our everyday routine. To successfully perform various tasks these robots require stable walking control algorithms, which could guarantee dynamic balance of the biped robot locomotion. Our research is focused on the development of locomotion algorithms which could provide effective anthropomorphic walking of a robot. As a target robotic platform we utilize an experimental model of a human-size robot - a novel Russian robot AR-601M. In this paper we introduce AR-601M robot and present a model of a biped robot with 11 DoF which simulates a simplified AR-601M robot. The simulation model is implemented in Matlab/Simulink environment and uses walking primitives in order to provide a dynamically stable locomotion.

Paper Citation

in Harvard Style

Khusainov R., Shimchik I., Afanasyev I. and Magid E. (2015). Toward a Human-like Locomotion: Modelling Dynamically Stable Locomotion of an Anthropomorphic Robot in Simulink Environment . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 141-148. DOI: 10.5220/0005576001410148

in Bibtex Style

@conference{icinco15,
author={Ramil Khusainov and Ilya Shimchik and Ilya Afanasyev and Evgeni Magid},
title={Toward a Human-like Locomotion: Modelling Dynamically Stable Locomotion of an Anthropomorphic Robot in Simulink Environment},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={141-148},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005576001410148},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Toward a Human-like Locomotion: Modelling Dynamically Stable Locomotion of an Anthropomorphic Robot in Simulink Environment
SN - 978-989-758-123-6
AU - Khusainov R.
AU - Shimchik I.
AU - Afanasyev I.
AU - Magid E.
PY - 2015
SP - 141
EP - 148
DO - 10.5220/0005576001410148