Towards the enhancement of biped locomotion and control techniques

Yüksel, Başak
The omnipresent tendency to “live easy” is a sign of our need for automatization. To enable for such a “comfortable and safe” world, the automatic systems have to be developed that satisfies the necessities of life. Biologically inspired robots, especially the humanoids, are thus the key, and research in this area focuses on the improvement of such systems. Lately, it has been shown by high dexterity examples that the humanoid robots achieved to a mature level even if there are still open issues to be improved, especially in the control and stability of the bipeds. The purpose of this thesis is to study biped locomotion in different floor conditions, such as stairs and obstacles; to improve the research done in this area; to contribute to the development of autonomous biped robots, dynamic modeling, gait planning, supervisory and guidence control, stability analysis of biped robots; and to implement new control algorithms for biped locomotion, especially by using optimization and high level intelligent control techniques. The locomotion aimed to be realized results from complex, high-dimensional, nonlinear and dynamically related interactions between the robot and its environment. The mathematical modeling of the physical system is realized based on a 5-link 7 DOF biped robot model walking on a 3D planar surface and the dynamic simulation is performed using MATLAB. In terms of control, several different methods applied, comparison and the performance of each method are given. The 3D dynamic simulation software is developed, which allows the user to operate the biped systems within a 3D virtual environment.


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Citation Formats
B. Yüksel, “Towards the enhancement of biped locomotion and control techniques,” Ph.D. - Doctoral Program, Middle East Technical University, 2008.