Balance control of a five-DOF robot leg

Abstract

A biped robot, also known as a humanoid robot, is built to resemble the shape and perform the actions of the human body. While functioning, a biped robot interacts with surrounding human environments. Currently, various robots have been developed to resemble many parts of the human body, such as the head or torso. This material focuses on the development of one robotic leg. Research in humanoid robots will expand knowledge of the human body, while producing greater understanding of the precise motions of the human gait. The eld of research in biped robots is very interesting, and creating something similar to that of the human body is a challenging task. The concept of walking robots is motivating and interesting enough, to perform research in the eld. There are two di erent robot designs, one for the simulation based purposes and the other for real-time data collection. The simulations will be used to help understand the formulas that were developed and researched, in order to control a biped robot. These methods include the Denavit-Hartenberg parameters, Newton-Euler Recursion, Trajectory Generation, Center of Mass and Zero Moment Point. The second robot design, which provides real-time data collection, will be done on a single ve degree of freedom legged robot. This robot leg is equipped with a motor and encoder at each joint that will be used to move and track its position. The foot has four force moment sensors on the bottom of the foot that will be used to help balance the robot leg in the upright position. Since its only a single legged robot, balance is its primary objective.