期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2014
期号：ICIET
页码：1337
出版社：S&S Publications
摘要：A Bipedal robots have been consideredas the best means of locomotion on any irregular surfaces.But achieving stability of the robot during walking isdifficult. Several studies have been proposed forachieving stability. This paper discusses the overview ofvarious approaches that have been designed so far forachieving stability during walking. The main objective ofthis paper is to construct a bipedal robot with heightsensor at the foot to measure the robot positioncoordinates. In order to make a stable walk, the positionvector coordinates has to be calculated. The positionvector coordinate is computed by Denavit Hartenbergrepresentation and inverse kinematics. The DHrepresentation is used to find the coordinates relative tothe joint angles of the robot. The measured coordinatesare then used to control the joint angle that controls therobot walking. This paper also discusses about the forcetorque controlled actuation of the joint motor of the robotduring walking on uneven and non-linear surfaces. Thetorso is designed to make the robot walking upright byitself. The trajectory of the robot can be identified byplacing the height sensor at the robot foot. This sensorreads the Z axis value as the robot is walking on the floor.By using this measured Z axis and known X axis values,the robot predicts its path and manipulates its trajectoryby itself. The biped robot stability can be controlled byconstantly shifting the center of gravity (COG) to the rightand left leg of the robot during walking. The camera isplaced at the hip to maneuver the obstacles along the path.The Mathematical modelling of the biped robot is done tofind the torque acting at the joints. The computed point(position vector of the foot) coordinates along thetrajectory is then proved through the simulation usingMATLAB/Simulink.
