Pid controller in step-motion control for bipedal robot with elastic legs
Corressponding author's email:
hainvd@hcmute.edu.vnKeywords:
bipedal robot, elastic legs, compliant component, SLIP model, PID control, sliding mode control.Abstract
The bipedal robot is a similar model in robot control problems. Former researches mostly focused on bipedal robots that only have solid links. This action limits the flexibility in the mechanical structure of the system. In order to make a robot more flexible, some researcher suggested replacing the solid legs with compliant components such as elastic legs. Basing on that transforming in mechanical structure, many control algorithms have been implemented by the direction that approximating robot into SLIP model to simplify the real model. Then, conventional control algorithms such as PID, sliding mode are respectively used to step-motion control for a robot. However, this approximation makes the robot control not exact because the approximated model and real model are not completely the same. In this paper, dynamic equations of an elastic bipedal robot are analyzed and a popular control algorithm –PID- is utilized on a real model which is not approximated. Control results are proved to be acceptable through simulation in Matlab/Simulink.
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