NDLI: Computed torque controller for an 8 degrees of freedom biped robot based on Zero Moment Point

Content Provider	IEEE Xplore Digital Library
Author	Haghighi, H.R.E. Nekoui, M.A.
Copyright Year	2011
Description	Author affiliation: Fac. of Electr. & Comput. Eng., Khaje Nasir Toosi Univ. of Technol., Tehran, Iran (Nekoui, M.A.) \|\| Fac. of Eng., Islamic Azad Univ., Tehran, Iran (Haghighi, H.R.E.)
Abstract	Biped robot requires a control system to ensure the stability of the robot during walking. Computed torque control approach is a special application of feedback linearization of nonlinear system which also appears in robust control, adaptive control, learning control, and so on. This paper first introduces a newly designed mechanism, an 8 degree of freedom (DOF) biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking. We will obtain inverse kinematic to find desire angles and velocities and accelerations for controller. An accurate model for the related biped robot is computed and applied to the controller. Then we describe computed torque controller and introduce a way for adjusting the controller gains. Off-line Zero Moment Point (ZMP) is used for stability of biped robot. Finally, the effectiveness of controller is illustrated by simulation results.
Sponsorship	IEEE
Starting Page	479
Ending Page	484
File Size	815827
Page Count	6
File Format	PDF
ISBN	9781467316897
e-ISBN	9781467316903
DOI	10.1109/ICCIAutom.2011.6356705
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-27
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Torque Computational modeling Torque control Trajectory Mathematical model
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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