Bipedal Walking

Project Details: 

This project was developed as as part of our Bachelors Thesis Project from Aug, 2018 to May, 2019. Our goal  was to develop and implement the controller for a 2-D bipedal walking robot. 

Project Summary: 

The ability of the biped robots to traverse in uneven and discontinuous terrain inspired this work. The ZMP based controllers, used to control biped robots, though solve the problem of walking but is less efficient and slow. This thesis talks about a controller for biped robot which is inspired from human walking which is more efficient. The controller has its core principles acquired from control law partitioning or feedback linearization method which is classical control technique used to control fully actuated robots, but there is a slight variation incorporated here as the robot is fundamentally underactuated. Intelligent control Technique like Fuzzy Inference System is also implemented on the robot in fusion with the classical feedback linearization technique like control law partitioning. A simulation is developed to demonstrate the working of the controller. The controller uses a 2D biped robot as a system to control in the simulation. The solution of the biped robot or the trajectory is developed by assuming the stance leg of the robot to behave as a linear inverted pendulum and the swing leg is made to follow a trajectory that changes the joint angles as a quintic polynomial equation in time An experimental testbed is developed in house from scratch, which is bound to walk in a circle. It is supported in the frontal plane and moves only is sagittal plane. The controller, developed, is tested on this experimental setup to realize 2D walking.