DESIGN AND ROBUST CONTROL OF A 5 DOF BIPEDAL ROBOT

The main goal of this paper is to study the efficiency of robust control for the movement of a biped robot in walking on both the horizontal plane and a flight of stairs. A model with 5 DOF has been selected in a way that one link stands for the body where it is attached to the thighs, two links for the thighs and two links for the legs. Firstly, the dynamic model is discussed and its related equations are obtained applying the Lagrangian equations. Then, the trajectories of the joints are discussed for the robot motion on both horizontal plane and climbing up the stairs - while the height and the length of the stairs are known during the movement. In the next step the robust and the computed torque methods are applied for controlling the system. Finally, the dynamic and the control model of the system are simulated using appropriate softwares.

کلیدواژه ها:

Bipedal Walking Robot ، Dynamics ، Robust Control ، Dynamic Equilibrium