The design and control of a bipedal robot with sensory feedback
Date of Issue2013
School of Mechanical and Aerospace Engineering
A stable walking motion requires effective gait balancing and robust posture correction algorithms. However, to develop and implement such intelligent motion algorithms remains a challenging task for researchers. Effective sensory feedback for stable posture control is essential for bipedal locomotion. In order to minimize the modelling errors and disturbances, this paper presents an effective sensory system and an alternative approach in generating a stable Centre-of-Mass (CoM) trajectory by using an observer-based augmented model predictive control technique with sensory feedback. The proposed approach is used to apply an Augmented Model Predictive Control (AMPC) algorithm with an on-line time shift and to look ahead to process future data to optimize a control signal by minimizing the cost function so that the system is able to track the desired Zero Moment Point (ZMP) as closely as possible, and at the same time to limit the motion jerk. The robot’s feet are fitted with force sensors to measure the contact force’s location. An observer is also implemented into the system.
Mechanical and Aerospace Engineering
International journal of advanced robotic systems
© 2013 The Authors (Published by InTech). This paper was published in International Journal of Advanced Robotic Systems and is made available as an electronic reprint (preprint) with permission of The Authors (Published by InTech). The paper can be found at the following official DOI: [http://dx.doi.org/10.5772/56572]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.