Project
title: Control
of a Biped Rolling Robot
S. Rouhollah Jafari T.
Abstract
Biped robots are humanoid mechanisms
designed to simulate the human walking. Unlike other mobile robots, bipeds possess
the potential to maneuver in areas containing obstacle such as ladders, stairs,
and uneven surfaces. In general, a bipedal locomotion system consists of
several links which are interconnected with actuated joints.
In this project,
a 3-DOF biped rolling robot will be studied. This robot consists of three links
and each link has a straight element connected rigidly to a circular arc. It is
assumed that all arcs are parts of the same circle. Two links playing the role
of the robot’s legs move the biped forward by rolling on the ground while the
other link as the upper body, provides required moment for motion. Only one leg
is active and its motion is constrained with respect to passive leg such that
at any instant of time, just one leg is rolling while the other leg moves in
such a way that two legs stay symmetric with respect to the vertical line.
Since rolling
moment is provided by the upper link, Motion of the biped can be regulated by
controlling the angular position of this link. The main goal of the project is
to design a controller to make the biped robot follow a desired acceleration
trajectory.
See the PDF file
for more detailed description, figures and equations.