Bipedal Robots Abstract

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CHAPTER 1 INTRODUCTION 1. INTRODUCTION 1.1Bipedal Robot:- The term bi-pedal robot refers to a robot that walks on two legs. In the recent years there has been much interest stimulated in dynamic walking in bipedal robotics and legged locomotion in general. Part of reason for this interest is the need for robot which can operate in human oriented environments. Human presents a very elegant model of locomotion to emulate. The Bipedal robots will operate in the human environment with much greater efficiency than any other type of the robot yet devised. It is hoped that eventually the bipedal robots can be used to complete tasks which are too difficult or dangerous for the human. This includes the application such as working in…show more content…
Motion Control: feedback control to stabilize the planned motion in the face of inaccurate modelling, disturbances, time delays, etc. Fast time-scale: typically of the order of milliseconds. 4. Robot State Sensing and Estimation: sensors and state estimation algorithms to provide information about the physical state of the robot to all other modules. Figure. 2.6 Control of a walking robot. This section contains definitions of some basic terms that are used in the thesis. Walking bipedal robots are robotic systems that can walk using two legs. Terms biped, which stands for any two-footed animal or robot; humanoid, which denotes mechanical systems or creatures having human appearance; and walking bipedal robot are used interchangeably in this thesis. Walking is defined as a locomotion of a system having multiple contacts with the ground by means of breaking and regaining these contacts without simultaneous breaking of all contacts. A typical walking cycle of a biped is shown in Figure 2.7. The convex hull of the ground contacts in the ground plane is called the support area. In practical applications it is often represented by a polygon, hence an equivalent term Polygon of Support (POS) is often used. [24] Figure 2.7: Walking cycle of a…show more content…
[26] It is called dynamic" because its movement is characterized by a dynamic stability. The robot is not stable at any one point in its motion. However, it is balanced in time so that the gait is steady and smooth. All bipedal walkers, including humans, must maintain dynamic stability in order to walk without falling over. The passive dynamic walker achieves this dynamic stability through a steady rocking cycle. Passive" refers to the robot's ability to generate locomotive movement without motor input. Instead, the passive dynamic walker can produce a steady gait using only gravity and inertia. The robot will walk stably when placed on a shallow downhill walking surface.

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