Bipedal Robot Locomotion on a Terrain with Pitfalls

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  • Alireza Tabrizizadeh1,
  • Fariba Bahrami2,
  • Mohammad Javad Yazdanpanah2,
  1. Department of Electrical Engineering,Science and Research Branch,Islamic Azad University,Tehran,Iran
  2. Tehran, Iran.

Published in Issue 2024-02-21

How to Cite

Tabrizizadeh, A., Bahrami, F., & Yazdanpanah, M. J. (2024). Bipedal Robot Locomotion on a Terrain with Pitfalls. Majlesi Journal of Electrical Engineering, 8(4). https://oiccpress.com/mjee/article/view/5293

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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

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