Investigating Modular Relative Jacobian Control for Bipedal Robot

Rodrigo S. Jamisola, Olebogeng Mbedzi, Tlamelo Makati, Rodney G. Roberts

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new method of generating walking motion for bipedal robots through modular relative Jacobian, that is normally used for dual-arms. In this paper, the two legs are equivalent to the two arms of the dual-arm, while the two feet are equivalent to the two end-effectors of the dualarm. Two legs, each with three degrees-of-freedom (3-DOFs), are combined to form a 6-DOFs bipedal robot. Then the 3-DOFs relative position between the two feet of the bipedal robot are controlled as the relative end-effectors of the relative Jacobian, while the remaining 3-DOFs are used to control the robot posture. As in a robot manipulator control, the first priority is the relative feet motion, while the second priority is bipedal robot posture in the null space. It is noted that if individual leg control for each foot was used, with 3-DOFs control on each foot, there will be no more DOFs to control the biped robot posture. The control uses dynamics information on inertia, gravitational torques, and dynamically consistent relative Jacobian inverse. Bipedal walking simulation is shown in Gazebo.

Original languageEnglish
Title of host publicationProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages428-432
Number of pages5
ISBN (Electronic)9781728134581
DOIs
Publication statusPublished - Nov 2019
Event9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 - Bangkok, Thailand
Duration: Nov 18 2019Nov 20 2019

Publication series

NameProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019

Conference

Conference9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
CountryThailand
CityBangkok
Period11/18/1911/20/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Jamisola, R. S., Mbedzi, O., Makati, T., & Roberts, R. G. (2019). Investigating Modular Relative Jacobian Control for Bipedal Robot. In Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 (pp. 428-432). [9095768] (Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIS-RAM47153.2019.9095768