Bipedal Robot Locomotion on a Terrain with Pitfalls
- Department of Electrical Engineering,Science and Research Branch,Islamic Azad University,Tehran,Iran
- Control and Intelligent Processing Center of Excellence,School of Electrical and Computer Engineering,University of Tehran,
- 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.