FEASIBILITY STUDY OF USING TELESCOPIC INVERTED PENDULUM MODEL TO REPRESENT A THREE LINK SYSTEM FOR SIT TO STAND MOTION

摘要

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.