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Characteristic Studies on Imitation Control for Static Walking of Biped Robot

Cui Y., Byun H. J., Shon S. G.

Przegląd Elektrotechniczny

2013

R. 89, nr 5

26-29

The purpose of this paper is to present a new kind of imitation control architecture for a biped robot. A human operator can interact with the robot and control it to walk. The robot is built based on the skeletal structure of humans. Partial joints are controlled by the operator wearing motion sensors in the body and other joints controlled by the controller. This paper describes the difficulties of balance control due to the random trajectory data by the operator and gives a static walking control method to keep the posture of the robot stable in imitation walking.

W artykule opisano strukturę sterowania metodą naśladowczą dla robota dwunożnego, zbudowanego na podstawie struktury ludzkiego szkieletu. Algorytm umożliwia kontrolę robota, w tym ruchów związanych z chodzeniem i utrzymanie stabilnej pozycji. Przedstawiono problemy związane z balansem.

A static walking robot to implement a neural network system

Daya B., Chauvet P.

Systems Science

2005

Vol. 31, no 1

27-35

In this paper, we consider the control of a simple static walking robot. We develop a prototype which will be able to test much architecture of artificial neural networks. The mechanism is driven by two servomotors. Its control system comprises an electronic circuit based on a programmable IC. The locomotion of the prototype has six states: forward, turn right, turn left, back right, pivot back and stay. We describe here the mechanism, the characteristics of the drives and the control strategy. In the first experiment which consists in avoiding obstacles, the designed algorithm was successfully implemented in the microcontroller, thus, making the robot intelligent.