This paper proposes robust control for three models of the linear inverted pendulum (one mass linear inverted pendulum model, two masses linear inverted pendulum model and three masses linear inverted pendulum model) which represents the upper, middle and lower body of a bipedal walking robot. The bipedal walking robot is built of light-weight and hard Aluminum sheets with 2 mm thickness. The minimum phase system and non-minimum phase system are studied and investigated for inverted pendulum models. The bipedal walking robot is programmed by Arduino microcontroller UNO. A MATLAB Simulink system is built to embrace the theoretical work. The results showed that one linear inverted pendulum is the worst performance, worst noise rejection and the worst set point tracking to the zero moment point. But two masses linear inverted pendulum models and three masses linear inverted pendulum model have a better performance, a better high-frequency noise rejection characteristic and better set-point tracking to the zero moment point.
Humanoids or bipedal robots are other kinds of robots that have legs. The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase. In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom. Besides, the KHR-2HV simulation model is used to simulate the experimental results by Webots. Similarly, Arduino and LOBOT LSC microcontrollers are used to program the bipedal robot. After the several methods for programming the bipedal robot by Arduino microcontroller, LOBOT LSC-32 driver model is the better than PCA 96685 Driver-16 channel servo driver for programming the bipedal walking robot. The results showed that this driver confirms the faster response than the Arduino microcontroller in walking the bipedal robot. The walking pattern generation results showed that the step height for 17 degrees of freedom bipedal robot increases approximately (20%) than 10 degrees of freedom bipedal robot, which decreases the step period by about (7%). Also, the time interval of the double support phase for 17 degrees of freedom bipedal robot increases approximately (11%) with decreases step length approximately (33% on X-axis) and (16% on Z-axis).
In this paper, the optimal control is analyzed to compare the results of the zero moment point of a bipedal walking robot. Seventeen degrees of freedom bipedal walking robot is manufactured of hard Aluminum sheets. The zero moment point is calculated experimentally and theoretically in the single support phase. MATLAB Simulink is used to simulate the results. The experimental results showed that the lower link takes the settling time is (1) sec, the middle link takes settling time (0.9) sec and the upper link takes (1.1) sec to arrive the desired zero moment point for the bipedal walking robot. The minimum performance index in the experimental parts occurs when the optimal feedback control gain is [35.5 30.4 5 -4]. Hence, the minimum performance index in the theoretical part is [35 31 5.2 -4]. The dimensions of the foot area are (12.3cm×6.3cm), 2.3cm thickness, and 32g weight. Also, the approximate balance area in the double support phase equals the area between the feet of the robot
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