Bipedal Robot Locomotion on a Terrain with Pitfalls

Authors

• Alireza Tabrizizadeh ¹
• Fariba Bahrami ^{2, 3}
• Mohammad Javad Yazdanpanah ^{2, 3}

1. Department of Electrical Engineering,Science and Research Branch,Islamic Azad University,Tehran,Iran
2. Control and Intelligent Processing Center of Excellence,School of Electrical and Computer Engineering,University of Tehran,
3. Tehran, Iran.

Abstract

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.

Keywords

• Particle swarm optimization
• Bipedal Robot Locomotion
• Central Pattern Generator
• Switching Controller. Compass Gait Model