Control system of biped robot balancing on board

This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.

[1]  Kemalettin Erbatur,et al.  An inverted pendulum based approach to biped trajectory generation with swing leg dynamics , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[2]  A. M. Alimi,et al.  Prototyping a biped robot using an educational robotics kit , 2012, International Conference on Education and e-Learning Innovations.

[3]  Jung-Yup Kim,et al.  Human-like Gait Generation for Biped android Robot Using Motion Capture and ZMP Measurement System , 2010, Int. J. Humanoid Robotics.

[4]  Christine Chevallereau,et al.  Walking and steering control for a 3D biped robot considering ground contact and stability , 2012, Robotics Auton. Syst..

[5]  Bernard Brogliato,et al.  Modeling, stability and control of biped robots - a general framework , 2004, Autom..

[6]  M. Omizo,et al.  Modeling , 1983, Encyclopedic Dictionary of Archaeology.

[7]  Miomir Vukobratovic,et al.  Zmp: a Review of Some Basic Misunderstandings , 2006, Int. J. Humanoid Robotics.

[8]  Guido Bugmann,et al.  BunnyBot: Humanoid Platform for Research and Teaching , 2009, FIRA RoboWorld Congress.

[9]  Gordon Cheng,et al.  Gravity Compensation and Full-Body Balancing for Humanoid Robots , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[10]  Md. Akhtaruzzaman,et al.  Geometrical analysis on BIOLOID humanoid system standing on single leg , 2011, 2011 4th International Conference on Mechatronics (ICOM).

[11]  Nuno Lau,et al.  Diagonal walk reference generator based on Fourier approximation of ZMP trajectory , 2013, 2013 13th International Conference on Autonomous Robot Systems.

[12]  Jong H. Park,et al.  Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[13]  Jung-Yup Kim,et al.  Fourier series-based walking pattern generation for a biped humanoid robot , 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

[14]  Manfred Hild,et al.  Evolution of Biped Walking Using Neural Oscillators and Physical Simulation , 2008, RoboCup.

[15]  Mohammad Teshnehlab,et al.  A hybrid controller based on CPG and ZMP for biped locomotion , 2013 .

[16]  Anton A. Pyrkin,et al.  Stabilization of biped robot standing on nonstationary plane , 2013, 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR).

[17]  C. N. Thai,et al.  Using Robotis Bioloid systems for instructional Robotics , 2011, 2011 Proceedings of IEEE Southeastcon.

[18]  Wei Luo,et al.  Stable Gait Planning for Biped Robot's Lower Limb Based on Natural ZMP Trajectories , 2012, ICIRA.

[19]  Malachy Eaton,et al.  Evolutionary Humanoid Robotics: Past, Present and Future , 2006, 50 Years of Artificial Intelligence.