Jaynendra Kumar Rai, Ravi Prakash Tewari, and Dinesh Chandra
Biped robot, dynamics, gait cycle, optimal control, robust control
This paper presents an optimal control of biped robot for human-like walking. A mathematical dynamic model of biped robot having seven links i.e., thigh, shank and foot for each leg and one link representing entire upper body i.e., torso is considered here. The Lagrange–Euler formulation is used to obtain the dynamic equations of motion for calculating torques at various joints. As the dynamics of leg is a highly complex and non-linear system with several uncertainties, a robust tracking controller that guarantee the performance is required. Polynomial trajectory used as reference trajectory is based on gait cycle of human walking data. First a robust controller is designed using an algebraic Riccati equation. This robust tracking controller is designed as an optimal controller, where the uncertainties are incorporated in design of optimal controller. The simulation result shows that the proposed controller can be used to control level walking of a biped robot just like human even with bounded uncertainties.
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