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Control of the Compass Gait Biped Robot

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Artificial Intelligence and Soft Computing (ICAISC 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9692))

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Abstract

In this paper, two different controllers have been designed to follow the desired trajectory. The robot, known as Compass Gait Biped Robot (or Underactuated Biped Robot), is assumed to have 2 legs known as the stance leg and the swing leg. Both legs have the same mass, with each center of mass located at the midpoint of the leg. The hip’s mass is assumed to represent the weight of the entire upper body. The locomotion of this kind of robot is constrained in the sagittal plane, where the friction between links and the energy lost at the impact are ignored. The dynamic model of the system (i.e. the equation of motion) is obtained, and is validated by analyzing the kinetic and potential energy. Trajectory is generated by Cubic Spline Method, and the desired joint velocity and acceleration are obtained by inverse kinematics. Controller design involves the comparison between the Proportional Integral and Derivative (PID) controller and the Computed Torque Control (CTC), which indicate that the CTC method is better for tracking the generated trajectory.

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Author information

Authors and Affiliations

  1. School of Electrical and Electronic Engineering, The University of Manchester, Manchester, M13 9PL, UK

    Ao Xi

  2. School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi, 710072, People’s Republic of China

    Ao Xi

Authors
  1. Ao Xi
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Correspondence to Ao Xi .

Editor information

Editors and Affiliations

  1. Częstochowa University of Technology, Czestochowa, Poland

    Leszek Rutkowski

  2. Częstochowa University of Technology, Czestochowa, Poland

    Marcin Korytkowski

  3. Częstochowa University of Technology, Czestochowa, Poland

    Rafał Scherer

  4. AGH University of Science and Technology, Krakow, Poland

    Ryszard Tadeusiewicz

  5. University of California, Berkeley, California, USA

    Lotfi A. Zadeh

  6. University of Louisville, Louisville, Kentucky, USA

    Jacek M. Zurada

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© 2016 Springer International Publishing Switzerland

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Xi, A. (2016). Control of the Compass Gait Biped Robot. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L., Zurada, J. (eds) Artificial Intelligence and Soft Computing. ICAISC 2016. Lecture Notes in Computer Science(), vol 9692. Springer, Cham. https://doi.org/10.1007/978-3-319-39378-0_65

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  • DOI: https://doi.org/10.1007/978-3-319-39378-0_65

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-39377-3

  • Online ISBN: 978-3-319-39378-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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