The Sub-Sectional Control of Biped Walking Robot

2014 ◽  
Vol 687-691 ◽  
pp. 527-533
Author(s):  
Guang Da Chen ◽  
De Jun Liu ◽  
Tian Xu Li
Keyword(s):  
Passive Control ◽  
Biped Robot ◽  
Stability Control ◽  
Nonlinear Observer ◽  
Walking Robot ◽  
Stable Convergence ◽  
Energy Shaping ◽  
Nonlinear Fitting ◽  
Biped Walking Robot ◽  
The Stability

In order to make the biped robot realize the global stability control, this paper adopts the sub-sectional control strategy. According to the structure of the robot and the stability of the walking state, the range of each state domain is divided. Based on this we design the controller of each domain. In the unstable section the nonlinear fitting control based on the nonlinear observer compensation is adopted; in the controllable and stable section the energy shaping control is adopted; in the stable convergence section the passive control is adopted. The simulation results show that the sub-sectional control can increase the speed of the system convergence and improve the robustness of the system.

Stabilization of Biped Walking Robot Using the Energy Shaping Method

2008 ◽  
Vol 3 (4) ◽  
Author(s):  
Ehsan Azadi Yazdi ◽  
Aria Alasty
Keyword(s):  
Potential Energy ◽  
Initial Conditions ◽  
Biped Robot ◽  
Lagrangian Method ◽  
Feedback Stabilization ◽  
Stable Limit ◽  
Walking Robot ◽  
Energy Shaping ◽  
Biped Walking ◽  
Biped Walking Robot

The biped walking robot demonstrates a stable limit cycle on shallow slopes. In previous researches, this passive gait was shown to be sensitive to ground slope and initial conditions. In this paper, we discuss the feedback stabilization of a biped robot by the “energy shaping” technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so that it tracks the potential energy of a known passive gait of a similar biped robot on a different slope. Although the method is applied to a simple kneeless planar biped, our results are completely generalizable and may be applied to general n-link bipeds. The second design uses a momentum wheel, which is placed on the hip of the robot to shape the energy of the biped. We use the controlled Lagrangian method to design the controller, and the simulation is carried out to show its performance. In the controlled Lagrangian method, either the total energy or the Lagrangian of the uncontrolled system is modified so that the Euler–Lagrange equations derived from this modified expression, called the controlled Lagrangian function, describe the closed loop equations of the system.

scholarly journals A Low-Cost Anthropometric Walking Robot for Reproducing Gait Lab Data

2008 ◽  
Vol 5 (4) ◽  
pp. 187-194
Author(s):  
Rogério Eduardo da Silva Santana ◽  
Agenor de Toledo Fleury ◽  
Luciano Luporini Menegaldo
Keyword(s):  
Low Cost ◽  
Biped Robot ◽  
Human Gait ◽  
Walking Robot ◽  
Gait Patterns ◽  
Biped Walking Robot ◽  
Human Gait Analysis ◽  
And Control ◽  
Cost Components ◽  
Design Construction

Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.

Optimal Energy-Effective Gait for Biped Robot

2013 ◽  
Vol 347-350 ◽  
pp. 839-843
Author(s):  
Li Peng Yuan ◽  
Li Ming Yuan ◽  
Hong Ying Lu
Keyword(s):  
Biped Robot ◽  
Legged Locomotion ◽  
Metabolic Energy ◽  
Two Dimensional ◽  
Walking Robot ◽  
Gait Patterns ◽  
Optimal Energy ◽  
Biped Walking Robot ◽  
Large Animals ◽  
Metabolic Energy Expenditure

Although peoples legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.

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.

Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control

2014 ◽  
Vol 11 (02) ◽  
pp. 1450014 ◽  
Author(s):  
Xuefeng Zhou ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Wenqiang Wu ◽  
Xin Chen ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Walking Robot ◽  
Biped Robots ◽  
Planning And Control ◽  
Biped Walking Robot ◽  
And Control ◽  
High Energy Consumption

Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.

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.

Stability Region-Based Analysis of Walking and Push Recovery Control

2020 ◽  
Author(s):  
William Z. Peng ◽  
Hyunjong Song ◽  
Joo H. Kim
Keyword(s):  
Biped Robot ◽  
Step Length ◽  
Stability Control ◽  
Human Gait ◽  
Biped Robots ◽  
Reduced Order ◽  
Double Support ◽  
Push Recovery ◽  
The Stability ◽  
Time Required

Abstract Push recovery is a vital aspect of balance stability control in biped robots. In this work, the response of a biped system to unexpected external perturbations is analyzed for different tasks and controllers using stability criteria based on balanced and steppable regions. The steppable region for a given step length and the balanced regions for single and double support contacts are constructed for a biped robot using optimization with its system dynamics, kinematic limits, actuation limits, and contact interactions with the environment. The regions are compared with those of a human subject to demonstrate that human gait exhibits unbalanced (but steppable) phases largely absent in robotic gait. These regions are also applied to a comparative analysis against capturability, where the computed steppable region is significantly larger than the capture region of an equivalent reduced-order model. The stability regions are also used to compare the performance of controllers during a double support balancing task. The implemented hip, knee, and ankle strategy-based controller led to improved stabilization — i.e., decreased foot tipping and time required to balance — relative to an existing hip and ankle controller and a gyro feedback controller. The proposed approaches are applicable to the analysis of any bipedal task and stability controller in general.

EP-WAR3 biped robot for climbing and descending stairs

Robotica ◽  
2004 ◽  
Vol 22 (4) ◽  
pp. 405-417 ◽  
Author(s):  
Giorgio Figliolini ◽  
Marco Ceccarelli
Keyword(s):  
Motion Analysis ◽  
Biped Robot ◽  
Programmable Logic ◽  
Walking Robot ◽  
Programming Technique ◽  
Biped Walking ◽  
Pneumatic Actuation ◽  
Straight Line ◽  
Biped Walking Robot ◽  
Event Based

A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.

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