Bipedal robot locomotion using multivariable control

In this research, multivariable PID control was implemented on YICAL Leg II for self-supporting bipedal locomotion. The legged robot is properly scaled to a human being. It has six DOF which is direct-driven by DC motors. The motion was limited on the sagittal plane. The sensor system of the robot i...

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Bibliographic Details
Published inTENCON 2009 - 2009 IEEE Region 10 Conference pp. 1 - 6
Main Authors Aclan, M.C., Ramos, M.C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2009
Subjects
DC motors
Feedback
Humans
Joints
Leg
Legged locomotion
multivariable control
PID
Potentiometers
Robot sensing systems
robot walking
Sensor systems
Three-term control
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Summary:In this research, multivariable PID control was implemented on YICAL Leg II for self-supporting bipedal locomotion. The legged robot is properly scaled to a human being. It has six DOF which is direct-driven by DC motors. The motion was limited on the sagittal plane. The sensor system of the robot is comprised of precision potentiometers for joint angle feedback and an IMU for attitude estimation. The biped has a body made up of fiberglass which is a light-weight and an elastic material. The predefined trajectories were input to the basic PID control and performance measures such as maximum error of 17.19%, maximum settling time of 1.38 seconds and maximum percent overshoot of 3.1% were achieved. Even though there were deviations from the proposed PID performance measures, the bipedal legs still achieved a walking motion.
ISBN:9781424445462
1424445469
ISSN:2159-3442
2159-3450
DOI:10.1109/TENCON.2009.5396036