Legged Robots with Human Morphology: Design and Control

Riadh Zaier*, Omer Dirdiry

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design and control of a bio-inspired legged robot with a passive toe joint. This legged robot will be utilized to study human gait and particularly pathological gaits. Hence, the leg structure is designed so that it can generate a similar gait of that of human. In addition, the parts of the legs need to be made of light materials mainly, aluminum and carbon fiber. The locomotion control of the legged robot is designed so that the overall control system with respect to the rolling motion is approximated by the Van der Pol oscillator. The controlled plant, in this case, is modeled as an inverted pendulum. Few control parameters are introduced to modulate the rolling motion and make it adaptive with the stride. The parameters of the locomotion controller can be tuned so that the closed loop system exhibits a stable limit cycle. The controller is then evaluated throughout simulation results using a full model of the biomechanical legs. To validate the simulation model, the Zero Moment Point (ZMP) method is utilized. The ZMP locations are obtained using the parameters of the full simulation model and compared with that of the measured ZMP using the ground reaction forces.

Original languageEnglish
Title of host publication2019 International Conference on Signal, Control and Communication, SCC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages302-307
Number of pages6
ISBN (Electronic)9781728135960
DOIs
Publication statusPublished - Dec 2019
Externally publishedYes
Event2019 International Conference on Signal, Control and Communication, SCC 2019 - Hammamet, Tunisia
Duration: Dec 16 2019Dec 18 2019

Publication series

Name2019 International Conference on Signal, Control and Communication, SCC 2019

Conference

Conference2019 International Conference on Signal, Control and Communication, SCC 2019
Country/TerritoryTunisia
CityHammamet
Period12/16/1912/18/19

Keywords

  • Biomechanical legs
  • Central Pattern Generator
  • Limit cycle
  • nonlinear controller
  • Van der Pol Oscillator

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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