Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Abstract

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effector and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.Keywords-walking robot control; robot hybrid control; virtual projection method; stability of walking robots; versatile, intelligent, portable robot control.

Behavior-Based Control Architecture for Legged-and-Climber Robots

“…However, these kinds of legged robots are unable to climb due to their bipedal disposal. Robots with more than two legs, like [6], for example, have a control system that only covers legs management and exclude the high-level control.…”