Bipedal Robot Locomotion on a Terrain with Pitfalls

Majlesi Journal of Electrical Engineering

مقاله 9، دوره 8، شماره 4، بهمن 2014، صفحه 59-65   

نوع مقاله: Review Article

نویسندگان

Alireza Tabrizizadeh^{* 1}؛ Fariba Bahrami²؛ Mohammad Javad Yazdanpanah²

¹Department of Electrical Engineering,Science and Research Branch,Islamic Azad University,Tehran,Iran

²Control and Intelligent Processing Center of Excellence,School of Electrical and Computer Engineering,University of Tehran, Tehran, Iran.

چکیده

In this paper a locomotion control system for bipedal robot is proposed to provide desirable walking on a terrain and skipping over a pitfall preventing the robot from falling in it.The proposed strategy is a combination of motion optimization based on particle swarm optimization algorithm and utilization of mode switching at  a higher level controller.The model for biped robot is a compass gait model but the method presented is general and could be appropriatly extended and generalized for other complicated models.

کلیدواژه‌ها

Bipedal Robot Locomotion؛ en؛ Central Pattern Generator؛ particle swarm optimization؛ Switching Controller؛ Compass Gait Model

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