Title :
Control of a Biped Robot Using the Robot Operating System
Author :
Maciel, Eduardo Henrique ; Ventura Bayan Henriques, Renato ; Fetter Lages, Walter
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio Grande do Sul, Porto Alegre, Brazil
Abstract :
This paper presents the development of a simplified model of the lower limbs of a biped robot, composed, basically, of a waist, two femurs, two tibiae and two feet. This mechanical structure has six degrees of freedom and has the approximate dimensions of a human being. The control system was implemented on the Robot Operating System (ROS). Contrariwise to most ROS controllers, a multi-input, multi-output (MIMO) controller using the computed-torque technique is proposed. The Gazebo simulator is used to validate the model and the control system.
Keywords :
MIMO systems; control engineering computing; legged locomotion; operating systems (computers); Gazebo simulator; MIMO controller; ROS controllers; biped robot control; computed-torque technique; control system; degrees of freedom; lower limbs; mechanical structure; multiinput multioutput controller; robot operating system; Computational modeling; Joints; Kinematics; MIMO; Orbits; Robots; Torque; Biped robot; MIMO controller; Robot operating system; computed torque controller;
Conference_Titel :
Robotics: SBR-LARS Robotics Symposium and Robocontrol (SBR LARS Robocontrol), 2014 Joint Conference on
Conference_Location :
Sao Carlos
Print_ISBN :
978-1-4799-6710-0
DOI :
10.1109/SBR.LARS.Robocontrol.2014.46
