Design Of Biped Robot Model Controller

Kamaleshvaran , Balakrishnan (2008) Design Of Biped Robot Model Controller. Project Report. UTeM, Melaka,Malaysia. (Submitted)

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Abstract

In this project, a controller for a biped robot model is designed. The biped structure modeled is a five link, two dimensional walking robot with a torso and knees but no ankles. The simulation environment contains simulation block for the biped model and a PD controller block for controlling the model. This project covers the modeling and simulation of a biped robot and will be implemented using MatlabISimulink software. As a basic for the robotics industry, designing model controllers for robots are the most crucial area. We will be able to build a robot in the future by designing a robot model controller. My project is based on the usage of MatlabISimulink as the software for simulation instead of Solidworks for better performance. The mathematical models used easily appear to be highly nonlinear and highdimensional preventing the effective use of traditional modeling and control methods. MatlabISimulink will be used as the software to design the biped robot model controller since Solidwoks software is quite sensitive towards disturbance. MatlablSimulink software also offers greater performance besides it is easier to control. Other than that, the stability of the biped robot can be improved by using the MatlabISimulink since biped robot involves gate control and kinematics. There are five main objectives of designing the biped robot model controller. Firstly, to formulate the exact mathematical model of the biped robot. Next, to build biped robot model in MatlablSimulink and to design model controller of the biped robot. Finally, the objectives are also to analyze controlled biped robot model and to develop graphical user interface, GUI for simulation and biped motion animation. In order to complete my design on the biped robot, I have used a few methods in gaining information. To conclude the work done in this thesis, it can be stated that all of the goals mentioned will be achieved. Where, the simulation of controlled biped robot model will be succeeded and working simulator environment will be developed.

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