Article detail · 2010
Design and control of the humanoid robot SURALP
- Year
- 2010
- Type
- article
Data source split
- YÖKSİS YÖKSİS article record
- YÖKSİS venue Turkish Journal of Electrical Engineering and Computer Sciences
- Catalog match (ISSN) Turkish Journal of Electrical Engineering and Computer Sciences
- OpenAlex OpenAlex enrichment (abstract, citations, topics)
Abstract
OpenAlex · English
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.
Topics
Citations
OpenAlex cited_by_count. Not a WoS or Scopus citation count; those sources have no separate column here.
2 citations
OpenAlex cited_by_count (cache / database)
2 publications in the local catalog that cite this work (OpenAlex reference match; not the full global list).