Emerging Technologies for Health and Medicine

CHAPTER 14THE WALKING ROBOT EQUILIBRIUM RECOVERY APPLIED ON THE NAO ROBOT

N. POP¹, L. VLADAREANU¹, H. WANG², M. UNGUREANU³, M. MIGDALOVICI¹, V. VLADAREANU¹, Y.FENG², M. LIN², E. P. MASTAN⁴ AND I. EL EMARY⁵

¹ Romanian Academy, Institute of Solid Mechanics, Bucharest, Romanian

² Yanshan University, Qinhuangdao, 066004, China

³ Technical University of Cluj-Napoca - North University Centre of Baia Mare

⁴ High School Nemeth Laszlo Baia Mare, Romania

⁵ King Abdulaziz Universitry Jeddah, Computer Science and Systems, Saudi Arabia Emails: [e-mail], [e-mail], [e-mail], [e-mail], [e-mail], [e-mail]

Abstract.

The chapter equilibrium recovery of the walking robot applied on the NAO robot using strategies for balancing in the sagittal plane, in the presence of external disturbances is analyzed, by comparing the feedback time to the equilibrium position for the same disturbance the case of lower control effort. The case of the high values chosen for R, in the case of higher control effort, together with the case of the low values chosen of the R are presented. Equilibrium and maintaining the balance of the biped walking robots play an important role in robot’s operation. The model of a double linear pendulum inverted under-actuated, with one passive and one active joint are studied in modeling the robot’s balance. The proposed strategy of balance has a goal to move the disturbed system to the desired equilibrium state. ...