Abstracto

Intelligent Path Planning Human Mimic - Biped Walking Robot (Height Sensor Based Control)

P.Raju, G.Muralidharan

A Bipedal robots have been considered as the best means of locomotion on any irregular surfaces. But achieving stability of the robot during walking is difficult. Several studies have been proposed for achieving stability. This paper discusses the overview of various approaches that have been designed so far for achieving stability during walking. The main objective of this paper is to construct a bipedal robot with height sensor at the foot to measure the robot position coordinates. In order to make a stable walk, the position vector coordinates has to be calculated. The position vector coordinate is computed by Denavit Hartenberg representation and inverse kinematics. The DH representation is used to find the coordinates relative to the joint angles of the robot. The measured coordinates are then used to control the joint angle that controls the robot walking. This paper also discusses about the force torque controlled actuation of the joint motor of the robot during walking on uneven and non-linear surfaces. The torso is designed to make the robot walking upright by itself. The trajectory of the robot can be identified by placing the height sensor at the robot foot. This sensor reads the Z axis value as the robot is walking on the floor. By using this measured Z axis and known X axis values, the robot predicts its path and manipulates its trajectory by itself. The biped robot stability can be controlled by constantly shifting the center of gravity (COG) to the right and left leg of the robot during walking. The camera is placed at the hip to maneuver the obstacles along the path. The Mathematical modelling of the biped robot is done to find the torque acting at the joints. The computed point (position vector of the foot) coordinates along the trajectory is then proved through the simulation using MATLAB/Simulink.