Hardware Design of Bipedal Locomotion Robot

2014 ◽  
Vol 705 ◽  
pp. 174-177
Author(s):  
K.S. Sim ◽  
C.P. Tso ◽  
G.Y. Lim ◽  
M.C. Foo
Keyword(s):  
Control System ◽  
Hardware Design ◽  
Biped Robot ◽  
Bipedal Locomotion ◽  
Servo Motor ◽  
Motor Controller ◽  
Servo Controller ◽  
The Stability ◽  
Controller Board ◽  
Trajectory Angle

This paper aims to design and develop a control system for the biped robot. The Peripheral Interface Controller (PIC) main controller board is designed to control the servo motor controller board which assures the biped robot to maintain its stability. This robot consists of PIC microcontroller, servo controller, servo motor, and sensors. The bracket parts are fabricated to mount the servo motors by constructing the biped structure. The PIC microcontroller provides interface among the sensors input, servo motor controller, and servo motor. The biped robot is able to walk in a stable motion under a flat plane. The sensors feedbacks enable the controller to adjust the stability of biped robot. The biped robot is able to perform walking steps and crouching action through the configuration of trajectory angle values of the servo motors.

Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

2013 ◽  
pp. 11-24
Author(s):  
Shinya Aoi
Keyword(s):  
Control System ◽  
Central Pattern Generator ◽  
Biped Robot ◽  
Pattern Generator ◽  
Bipedal Locomotion ◽  
Phase Resetting ◽  
Gait Transition ◽  
Gait Patterns ◽  
Transition Control ◽  
The Stability

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

Stable Bipedal Locomotion Using Biomimetic IPMC Actuators

2012 ◽  
Author(s):  
Milad Hosseinipour ◽  
Mohammad Elahinia
Keyword(s):  
Microelectromechanical Systems ◽  
Biped Robot ◽  
Artificial Muscles ◽  
Bipedal Locomotion ◽  
Gold Plating ◽  
Box Models ◽  
Ionic Conducting ◽  
Smooth Motion ◽  
Polymer Metal ◽  
The Stability

Ionic conducting polymer-metal composites (abbreviated as IPMC) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. The electrochemical-mechanical behavior of these materials has been modeled by various black or gray box models. In this study, the governing partial differential equation of the behavior of IPMC is solved using finite element methods to find the critical actuation parameters such as strain distribution, maximum strain, and response time. 1D results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator. Model of a seven-degree of freedom biped robot, actuated by IPMC flaps, is then introduced to study. Possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Taking the actuator limits into account, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using ZMP criterion and motion simulation. Fabrication parameters of each actuator such as length, platinum (or gold) plating thickness and installation angle are also studied using the generated trajectories.

Digital Control System Design of Carving Machine Based on DSP

2012 ◽  
Vol 503-504 ◽  
pp. 1343-1346
Author(s):  
Zhong Jin Ni ◽  
Liang Fang ◽  
Mao Jun Chen
Keyword(s):  
Control System ◽  
High Precision ◽  
Digital Control ◽  
Control Method ◽  
Control System Design ◽  
Digital Control System ◽  
Servo Motor ◽  
System Operation ◽  
Precision Control ◽  
Motor Controller

A digital control system of high-precision carving machine is presented in this paper. According to the requirements of high-precision caving machine, a servo motor controller based on the field orientated control (FOC) strategy is applied. Thus the high-precision control system base on DSP of electronic carving machine is realized. The results of system operation are shown that the control system and the servo motor controllers can run steadily and precisely. The system also represent that inter - connected controls parameters of this system were correct and valid, the control method was proper and effective

Investigation of the stability of periodic motions in a nonlinear automatic control system based on the fast fourier transform

2003 ◽  
Vol 3 ◽  
pp. 297-307
Author(s):  
V.V. Denisov
Keyword(s):  
Fourier Transform ◽  
Control System ◽  
Automatic Control ◽  
Fast Fourier Transform ◽  
Automatic Control System ◽  
Resonance Phenomenon ◽  
Periodic Motions ◽  
Multiply Connected ◽  
Non Linear ◽  
The Stability

An approach to the study of the stability of non-linear multiply connected systems of automatic control by means of a fast Fourier transform and the resonance phenomenon is considered.

scholarly journals A Unified Control Strategy of Distributed Generation for Grid-Connected and Islanded Operation Conditions Using an Artificial Neural Network

2021 ◽  
Vol 13 (11) ◽  
pp. 6388
Author(s):  
Karim M. El-Sharawy ◽  
Hatem Y. Diab ◽  
Mahmoud O. Abdelsalam ◽  
Mostafa I. Marei
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Control System ◽  
Distributed Generation ◽  
Control Strategy ◽  
Current Control ◽  
Operating Conditions ◽  
Pi Controllers ◽  
Artificial Neural ◽  
The Stability

This article presents a control strategy that enables both islanded and grid-tied operations of a three-phase inverter in distributed generation. This distributed generation (DG) is based on a dramatically evolved direct current (DC) source. A unified control strategy is introduced to operate the interface in either the isolated or grid-connected modes. The proposed control system is based on the instantaneous tracking of the active power flow in order to achieve current control in the grid-connected mode and retain the stability of the frequency using phase-locked loop (PLL) circuits at the point of common coupling (PCC), in addition to managing the reactive power supplied to the grid. On the other side, the proposed control system is also based on the instantaneous tracking of the voltage to achieve the voltage control in the standalone mode and retain the stability of the frequency by using another circuit including a special equation (wt = 2πft, f = 50 Hz). This utilization provides the ability to obtain voltage stability across the critical load. One benefit of the proposed control strategy is that the design of the controller remains unconverted for other operating conditions. The simulation results are added to evaluate the performance of the proposed control technology using a different method; the first method used basic proportional integration (PI) controllers, and the second method used adaptive proportional integration (PI) controllers, i.e., an Artificial Neural Network (ANN).

An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

The Correlation between Time and Frequency Dynamic Performance of Control System

2014 ◽  
Vol 628 ◽  
pp. 186-189
Author(s):  
Meng Xiong Zeng ◽  
Jin Feng Zhao ◽  
Wen Ouyang
Keyword(s):  
Control System ◽  
Performance Index ◽  
Dynamic Performance ◽  
Frequency Domain Analysis ◽  
Practical Significance ◽  
Order System ◽  
Time Frequency ◽  
Performance Indexes ◽  
Quantitative Performance ◽  
The Stability

The control system performance requirement was divided into three parts. They were the stability, rapidity and accuracy. The time-frequency domain analysis in the requirements of three performance were measured through quantitative performance index. The mutual restriction of time-frequency performance and system characteristic parameters of normal second order was discussed. The correlation of system time-frequency performance index was established. The relationship between time-frequency performance indexes in standard two order system was extended to higher order system. The mutually constraining and time-frequency correlation between each performance index was obtained by analysis and calculation. The work had been done above had practical significance to reflect the system dynamic performance in different analytical domains.

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