Influence of External Disturbances to Dynamic Balance of the Semi-Anthropomimetic Robot

Abstract

The idea of building an artificial man extends through the entire history of mankind. In this paper we present a semi-anthropomimetic robot, as a structure that consists of an upper human-like body mounted on a cart (mobile platform). Semi-anthropomimetic robot uses the three-wheeled mobile platform (two driving wheels and one passive wheel). Upper body configuration is represented as an anthropomimetic structure with antagonistically coupled drives. The aim of this paper is analysis of the robot behaviour under disturbances. Two types of disturbances are examined: disturbances following from the cart motion, and external disturbances. External disturbances (external impulse and long term external force) emulate interaction of the robot with its environment. Numerous simulations were performed, in order to analyze the balance of the robot. Accordingly, appropriate dimensions of the mobile platform are estimated, relying on the ZMP concept.