Beschreibung
Academic Paper from the year 2017 in the subject Engineering - Robotics, language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
Autorenporträt
Dr-Ing. Hayder Al-Shuka was born in Baghdad, Iraq, in 1979. In 2014, he has obtained his PhD at RWTH Aachen University, Department of Mechanism Theory, Machine Dynamics and Robotics (IGMR), Aachen, Germany. From 2006-2017, he has been assigned as a lecturer at Baghdad University at the Department of Mechanical Engineering, Baghdad, Iraq. From 2017-2019, he was a postdoctoral fellow at Shandong University, Jinan, China. From 2020 until now, he has been a lecturer at Baghdad University, Department of Aeronautical Engineering. Dr AlShuka is concerned with walking patterns and control of biped robots, adaptive approximation control of robotic manipulators, exoskeletons, and prostheses.
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