Design and control of the humanoid robot SURALP

Authors

KEMALETTİN ERBATUR
UTKU SEVEN
EVRİM TAŞKIRAN
ÖZER KOCA
METİN YILMAZ
MUSTAFA ÜNEL
GÜLLÜ KIZILTAŞ ŞENDUR
ASIF SABANOVIC
AHMET ONAT

DOI

10.3906/elk-1007-595

Abstract

SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University - Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and Zero Moment Point (ZMP) regulation, and independent joint position controllers are used in zeroing and walking. A smooth walking trajectory is employed. Experimental results indicate that the reference generation and control algorithms are successful in achieving a stable and continuous walk.

Keywords

Humanoid robot, biped robot walking reference generation

First Page

725

Last Page

731

Recommended Citation

ERBATUR, KEMALETTİN; SEVEN, UTKU; TAŞKIRAN, EVRİM; KOCA, ÖZER; YILMAZ, METİN; ÜNEL, MUSTAFA; ŞENDUR, GÜLLÜ KIZILTAŞ; SABANOVIC, ASIF; and ONAT, AHMET (2011) "Design and control of the humanoid robot SURALP," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 19: No. 5, Article 3. https://doi.org/10.3906/elk-1007-595
Available at: https://journals.tubitak.gov.tr/elektrik/vol19/iss5/3