Hayder F. N. Al-Shuka

Work place: RWTH Aachen University, Department of Mechanism and Machine Dynamics, Germany

E-mail: hayder.al-shuka@rwth-aachen.de


Research Interests: Robotics


Hayder F. N. Al-Shuka was born in Baghdad, Iraq, in 1979. He received the B. Sc and M. Sc. degrees from Baghdad and Al-Mustansiriya Universities respectively, Baghdad, Iraq, in 2003 and 2006 respectively. Since 2006, he has been appointed as a lecturer in Baghdad University at the department of Mechanical Engineering. He is currently PhD candidate at the RWTH Aachen University at the Department of Mechanism and Machine Dynamics. His research interests include walking patterns and control of biped robots.

Author Articles
Zero-Moment Point-Based Biped Robot with Different Walking Patterns

By Hayder F. N. Al-Shuka Burkhard J. Corves Bram Vanderborght Wen-Hong Zhu

DOI: https://doi.org/10.5815/ijisa.2015.01.03, Pub. Date: 8 Dec. 2014

This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa. All these methods depend on linear pendulum mode (LPM) to predict the trajectory of the center of gravity (COG) of the biped. It has been found that the three methods could give the same motion of the COG for the biped. The second issue is investigation of the foot trajectory with different walking patterns especially during the DSP. The characteristics of foot rotation can improve the stability performance with uniform configurations. Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM. The results show that keeping the stance foot flat at beginning of the DSP is necessary for balancing the biped robot.

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