Stable underactuated biped locomotion on various geometrical surfaces

Dan, Alinjar; Saha, Subir Kumar; Krishna, K Rama

doi:10.1007/s11044-024-09991-3

Multibody Syst Dyn

2024

DOI: 10.1007/s11044-024-09991-3

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Stable underactuated biped locomotion on various geometrical surfaces

Alinjar Dan,

Subir Kumar Saha,

K Rama Krishna

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2024

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Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing

Khan,

Mandava,

Panchore

2024

Journal of Field Robotics

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The current research article discusses the design of a proportional–integral–derivative (PID) controller to obtain the optimal gait planning algorithm for a 16‐degrees‐of‐freedom biped robot while crossing the ditch. The gait planning algorithm integrates an initial posture, position, and desired trajectories of the robot's wrist, hip, and foot. A cubic polynomial trajectory is assigned for wrist, hip, and foot trajectories to generate the motion. The foot and wrist joint angles of the biped robot along the polynomial trajectory are obtained by using the inverse kinematics approach. Moreover, the dynamic balance margin was estimated by using the concept of the zero‐moment point. To enhance the smooth motion of the gait planner and reduce the error between two consecutive joint angles, the authors designed a PID controller for each joint of the biped robot. To design a PID controller, the dynamics of the biped robot are essential, and it was obtained using the Lagrange–Euler formulation. The gains, that is,KP,KD, andKIof the PID controller are tuned with nontraditional optimization algorithms, such as particle swarm optimization (PSO), differential evolution (DE), and compared with modified chaotic invasive weed optimization (MCIWO) algorithms. The result indicates that the MCIWO‐PID controller generates more dynamically balanced gaits when compared with the DE and PSO‐PID controllers.

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Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing

Khan,

Mandava,

Panchore

2024

Journal of Field Robotics

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show abstract

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Stable underactuated biped locomotion on various geometrical surfaces

Cited by 1 publication

References 38 publications

Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing

Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing

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