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2012 (Vol. 4, Issue: 20)
Article Information:

Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

P. Wu and W. Wu
Corresponding Author:  W. Wu 

Key words:  Extended task space , piecewise polynomial interpolation, sector gridding search algorithm, ZMP stability criterion, , ,
Vol. 4 , (20): 4098-4104
Submitted Accepted Published
March 15, 2012 March 26, 2012 October 15, 2012
Abstract:

Based on the stability request of robotís moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajectory through the building of double linear inverted pendulum model of dual-arm mobile robot. The sector gridding search algorithm is proposed and the reachable workspace which meets the Zero Moment Point stability principle when the robot moving on the ground is obtained. Tip Trajectory is generated through polynomial interpolation. Each joint curve is calculated using MATLAB which is imported to virtual physical model. The feasibility of gait generation is verified.
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  Cite this Reference:
P. Wu and W. Wu, 2012. Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller.  Research Journal of Applied Sciences, Engineering and Technology, 4(20): 4098-4104.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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