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Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains

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Abstract

The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation (PID) controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization (MCIWO) and particle swarm optimization (PSO) algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.

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Authors and Affiliations

  1. School of Mechanical Sciences, Indian Institute of Technology (IIT) Bhubaneswar, Bhubaneswar, 752050, India

    Ravi Kumar Mandava & Pandu Ranga Vundavilli

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  1. Ravi Kumar Mandava
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Correspondence to Ravi Kumar Mandava.

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Recommended by Associate Editor Veljko Potkonjak

Ravi Kumar Mandava received the B. Tech. degree in mechanical engineering from Acharya Nagarjuna University, India in 2008. He received the M. Eng. degree in CAD/CAM from Andhra University, India in 2010. Currently, he is a Ph. D. degree candidate in mechanical engineering from School of Mechanical Sciences, Indian Institute of Technology (IIT) Bhubaneswar, India. He has published about 10 technical papers in various national, international conferences and journals. He is an active reviewer of some of the international conferences and journals.

His research interests include legged robotics, motion planning and soft computing.

Pandu Ranga Vundavilli received the B. Tech. degree in mechanical engineering from Jawaharlal Nehru Technological University, India in 2000, and M. Tech. degree in computer integrated manufacturing from National Institute of Technology, India in 2003. He received the Ph. D. degree in mechanical engineering from the Indian Institute of Technology, India in 2009. He is working at present, as assistant professor in the School of Mechanical Sciences of IIT Bhubaneswar, India. He has published about 75 technical papers in various national, international conferences and journals. He is an active reviewer of many international journals.

His research interests include robotics, modeling of manufacturing systems, genetic algorithms, differential evolution, particle swarm optimization, neural networks, fuzzy logic and others.

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Mandava, R.K., Vundavilli, P.R. Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains. Int. J. Autom. Comput. 15, 689–706 (2018). https://doi.org/10.1007/s11633-018-1121-3

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