Diseño e implementación de un sistema de control para la caminata de un Bípedo con 10 DOF en el plano sagital

Abstract

In this document, an application of optimal control is presented to achieve the stability of the dynamics of a biped robot with 10 degrees of freedom (10 DOF). The trajectory of the robot is generated following the pattern based on human gait, modifying the angles of the articulations to create steps that consider the zero moment point (ZMP). The goals are to model, simulate and control the stability of the robot utilizing a prototype whose mass and center of mass (CoM) of each joint are known. The gait cycle is proposed for the sagittal plane, and it is built following the ZMP of the biped, considering the polygon of support. This process has been divided into two stages: single support phase and double support phase. The linear inverted pendulum model (LIPM) is used to design the controller with feedback and future predictions of the behavior of the system. The corrective action applies for both stages mentioned before. In the software tests, it was shown that the control is robust when perturbations are present. With this result, the trajectory generated, the control algorithm and methodology used in the software is applied successfully to the real robot