Title :
Computed torque controller for an 8 degrees of freedom biped robot based on Zero Moment Point
Author :
Haghighi, H. R Elahi ; Nekoui, M.A.
Author_Institution :
Fac. of Eng., Islamic Azad Univ., Tehran, Iran
Abstract :
Biped robot requires a control system to ensure the stability of the robot during walking. Computed torque control approach is a special application of feedback linearization of nonlinear system which also appears in robust control, adaptive control, learning control, and so on. This paper first introduces a newly designed mechanism, an 8 degree of freedom (DOF) biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking. We will obtain inverse kinematic to find desire angles and velocities and accelerations for controller. An accurate model for the related biped robot is computed and applied to the controller. Then we describe computed torque controller and introduce a way for adjusting the controller gains. Off-line Zero Moment Point (ZMP) is used for stability of biped robot. Finally, the effectiveness of controller is illustrated by simulation results.
Keywords :
CAD; adaptive control; feedback; gait analysis; learning systems; legged locomotion; linearisation techniques; nonlinear control systems; robot kinematics; robust control; torque control; 8 DOF biped robot; 8 degrees of freedom biped robot; SolidWork; ZMP; adaptive control; computed torque controller approach; feedback linearization; human like walking trajectories; inverse kinematic; learning control; nonlinear system; offline zero moment point; robot stability; robust control; Computational modeling; Legged locomotion; Mathematical model; Torque; Torque control; Trajectory;
Conference_Titel :
Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on
Conference_Location :
Shiraz
Print_ISBN :
978-1-4673-1689-7
DOI :
10.1109/ICCIAutom.2011.6356705
