Design of a 3DOF passive rotating platform for the adaptive motion planning of a single-legged robot

A 3 DOF (Degrees Of Freedom) passive rotating platform and a simulator with position controller were developed as the stimulus input for a simulated single leg robot system to realize COP (Center Of Pressure) based motion control. The platform contains a board mounted on a tripod by a ball joint. A magnetic tracking sensor is mounted on the board to get the orientation of the rotating platform. The virtual reality tracking system records the rotating information of the platform in real time. According to the orientation of the real platform, the information of the magnetic sensor is used to control a simulated rotating platform. Using the real and virtual rotating platform systems, some experiments were carried out to realize the adaptive motion planning of the simulated single-legged robot.