Sharif University of Technology Scientia Iranica 1026-3098 26 Issue 4: Special Issue Dedicated to Professor Abolhassan Vafai 2019 08 01 Employing a Novel Gait Pattern Generator on a Social Humanoid Robot 2154 2166 21358 10.24200/sci.2019.21358 EN A. Meghdari Social & Cognitive Robotics Laboratory, Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, IRAN S. Behzadipour School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran M. Abedi School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran Journal Article 2019 02 11 This paper presents a novel Gait Pattern Generator developed for the “Alice” social humanoid robot which<br />up to now lacked an appropriate walking pattern. Due to the limitations of this robot, the proposed gate<br />pattern generator was formulated based on a nine-mass model to decrease the modeling errors; and the<br />inverse kinematics of the whole lower-body was solved in such a way that the robot remains statically<br />stable during the movements. The main challenge of this work was to solve the inverse kinematics of a<br />7-link chain with 12 degrees-of-freedom. For this purpose, a new graphical-numerical technique has been<br />provided using the definition of the kinematic equations of the robot joints’ Cartesian coordinates. This<br />method resulted in a significant increase in the calculations’ solution rate. Finally, a novel algorithm was<br />developed for step-by-step displacement of the robot towards a desired destination in a two-dimensional<br />space. Performance of the proposed gate pattern generator was evaluated both with a model of the robot in<br />a MATLAB Simulink environment and in real experiments with the Alice humanoid robot. https://scientiairanica.sharif.edu/article_21358_00fa14e334ff6c3534fa8d8ff10d8847.pdf