Experimental research of control moment gyroscope effect on bipedal robot walking trajectory
Journal of the Brazilian Society of Mechanical Sciences and Engineering, cilt.47, sa.4, 2025 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 47 Sayı: 4
- Basım Tarihi: 2025
- Doi Numarası: 10.1007/s40430-025-05477-1
- Dergi Adı: Journal of the Brazilian Society of Mechanical Sciences and Engineering
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Communication Abstracts, Compendex, INSPEC, Metadex, Civil Engineering Abstracts
- Anahtar Kelimeler: Bipedal robot balance, Bipedal walking, Control moment gyroscope, Zero moment point
- Trakya Üniversitesi Adresli: Evet
Özet
Characteristics of bipedal robots such as walking speed, energy efficiency and maintaining balance stability are critical areas of ongoing research and development in robotics. The Zero Moment Point (ZMP) control method is a fundamental and widely used approach to balance and trajectory control of bipedal robots. In order to contribute to ZMP control approach, significant studies are being conducted in which additional hardware and control methods are included in bipedal robots. In this study, the control moment gyroscope mechanism (CMG) was mounted on the bipedal robot using an additional module. By using the CMG module, it is aimed to improve robot capabilities, especially walking speed, balance stability and power consumption. A series of experiments and comparisons were carried out to achieve this goal and to test the CMG effect. The first of these experiments examined the oscillation and trajectory tracking of the robot during walking and turning movements. The second experiment focused on the torque change on the 12 servo motors that perform the movement of the bipedal robot. Finally, impact tests were conducted to measure how the balance preservation changed. The analysis yielded insights into the impact of the CMG mechanism mounted on the bipedal robot on the robot’s swing, walking, balance and power consumption behaviours, and its contribution to the movement process.