Design and control of the humanoid robot SURALP

Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer and Yılmaz, Metin and Ünel, Mustafa and Kızıltaş, Güllü and Şabanoviç, Asif and Onat, Ahmet (2011) Design and control of the humanoid robot SURALP. Turkish Journal of Electrical Engineering and Computer Sciences, 19 (5). pp. 725-731. ISSN 1300-0632

This is the latest version of this item.

Full text not available from this repository. (Request a copy)


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. A variety of 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.
Item Type: Article
Uncontrolled Keywords: Humanoid robot; biped robot walking reference generation
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 27 Oct 2011 14:49
Last Modified: 30 Jul 2019 14:18

Available Versions of this Item

Actions (login required)

View Item
View Item