Development and Control of Biped Walking Robot Using PI Control

2019 ◽  
pp. 299-313
Author(s):  
K. H. Tan ◽  
N. S. M. Nor ◽  
M. Z. Md Zain
Keyword(s):  
Pi Control ◽  
Walking Robot ◽  
Biped Walking ◽  
Biped Walking Robot ◽  
And Control

Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys

2008 ◽  
Vol 20 (5) ◽  
pp. 793-800 ◽  
Author(s):  
Mami Nishida ◽  
◽  
Hua O. Wang ◽  
Kazuo Tanaka ◽  
Keyword(s):  
Shape Memory Alloys ◽  
Shape Memory ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Walking Robot ◽  
Biped Walking ◽  
Walking Behavior ◽  
Elastic Potential Energy ◽  
Biped Walking Robot ◽  
And Control

This paper presents a study on the development and control of a small biped walking robot using shape memory alloys (SMAs). We propose a flexible flat plate (FFP) consisting of a polyethylene plate and SMAs. Based on a detailed investigation of the properties of the SMA-based FFP structure, we develop a lightweight small walking robot incorporating multiple SMA-based FFPs. The walking robot has four degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA-based FFPs. The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The small robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting small biped walking robot weighs a mere 2.8 g (with a height of 70 mm). Our experimental results demonstrate the viability and utility of the small walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom

1996 ◽  
Vol 118 (4) ◽  
pp. 683-690 ◽  
Author(s):  
Ching-Long Shih
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
The Body ◽  
Walking Robot ◽  
Walking Test ◽  
Biped Walking ◽  
Double Support ◽  
Dynamics And Control ◽  
Biped Walking Robot ◽  
And Control

This research studies the dynamics and motion control of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The statically stable walking of the biped robot is implemented by maintaining the center-of-gravity (cg) inside the convex region of the supporting foot/feet during both single-support and double-support phases. The dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of a prototype biped BR-1 and its experimental walking test results are described. The biped robot is able to walk on an even floor both statically and dynamically. On a flat plane, the biped can walk with a speed of 8 cm/second statically, and 20 cm/second dynamically.

Design of Biped Walking Robot Based on the Arduino

2013 ◽  
Vol 364 ◽  
pp. 361-364
Author(s):  
Jie Liu ◽  
Tao Wu
Keyword(s):  
Rotation Angle ◽  
Biped Robot ◽  
Robot Programming ◽  
Walking Robot ◽  
Servo Motor ◽  
Bipedal Robot ◽  
Biped Walking ◽  
Biped Walking Robot ◽  
Six Degree Of Freedom ◽  
And Control

This paper probes a six-degree of freedom bipedal robot driving by servos and introduces the walking principle, structure composition and control system of the biped robot. Arduino is used to control the entire course of the movement. Based on the motion analysis of the biped walking robot, programming with the servo function, which is the Arduino software platform own specialized library functions to control the servo motor, control the rotation angle of the servos precisely. Ultimately complete the gait of the robot successfully.

Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation

2007 ◽  
Vol 19 (3) ◽  
pp. 272-280 ◽  
Author(s):  
Yusuke Sugahara ◽  
◽  
Giuseppe Carbone ◽  
Kenji Hashimoto ◽  
Marco Ceccarelli ◽  
...  
Keyword(s):  
Experimental Method ◽  
Tracking System ◽  
Walking Robot ◽  
Biped Walking ◽  
Dynamic Conditions ◽  
Stiffness Measurement ◽  
Biped Walking Robot ◽  
Reliable Procedure ◽  
And Control

This paper describes an experimental method for evaluating the stiffness of a biped walking robot. A reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System) with three wire encoders and two six-axis force-torque sensors. This measures both applied wrench and resulting compliant displacements. Experiments conducted on a prototype of the biped walking vehicle WL-16RII (Waseda Leg - No. 16 Refined II) under different dynamic conditions provided useful information for both design and control.

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