Energy-constraint control of a biped robot

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Dr. Harmati István
Department of Control Engineering and Information Technology

During my Thesis subject I worked with the modeling of the movement of biped walking robots. In our days we emphasize the fact, that the robots made by us should be capable of the movement just like us, humans, copying that.

The base of the movement is the passive walking. It is a simple mechanism, where a structure can perform a stable walk down a slope without energy input or control from outside. The advantage of the robot is its structure: it contains two rigid legs, which are connected at the hip. The control of the robot is possible with 3 torques: one in the hip, one in each ankle joints. With the modeling, and later the controlling of this kind of action we should be able to realize a movement, which is capable of moving on a flat surface.

For solving the dynamic equation and to interpret the solution I used the proper functions of the Matlab program. During my half year work I tried to solve the problem both with S-Function and ode45 function. From the possible solution just the second one was suitable for my purposes.

The result of the simulation was shown not just with Matlab scopes, but with animations created in VRML. With the VRML I was able to visualize the movement of the robot in a 3D world.

At the end of my work in this semester I examined the possibility of a model with a knee joint. I showed the necessary modifications needed and the new problems that may occur in the future.


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