Regresar

Teleoperation of a Biped Robot

Abstract:

This paper presents a control scheme to teleoperate the forward speed of a bipedal robot. The robot's model used represents a underactuated system of 5 degrees of freedom and is implement in Matlab/SimMechanics. The references given to each joint are inspired by the way people walk, while the control mechanism is based on a dynamic compensation that uses the generating data by a P+d controller and a neural network that identifies the plant, these elements together improve the biped walk. In addition, simulation's results are shown to evaluate the operation of the proposed scheme.