Volume: 3, Issue: 1(2006)
pp. 105-126 DOI: 10.1142/S0219843606000527
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Full Text (PDF, 791KB)
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| Title: |
DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT |
| Author(s): |
AHMAD BAGHERI
Department of Mechanical Engineering, Guilan University, Rasht, P.O. Box 3756, IranFARID NAJAFI
Faculty of Mechanical Engineering, Khajeh Nassir University, Tehran, IranREZA FARROKHI
Department of Mechanical Engineering, Guilan University, IranRAHMAN YOUSEFI MOGHADDAM
Department of Mechanical and Manufacturing Engineering, University of Manitoba, Winnipeg, CanadaMOHAMMAD EBRAHIM FELEZI
Department of Mechanical Engineering, Guilan University, Iran
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| History: |
Received 11 January 2005
Revised 12 March 2005
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| Abstract: |
Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted. |
| Keywords: |
Biped walking robot; motion simulation; zero moment point (ZMP); dynamic modification; adaptive control; virtual modeling
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