Abstract
Dynamic balancing is a hard problem for biped mobile robots, as is requires real-time processing of complex formulas from noisy sensors. In this paper we demonstrate how an offline modelling and simulation step can help to improve balancing, by providing a first approximation for a biped walking pattern. In order to achieve this goal, we design a physics model of the biped robot, using spline functions for all joint movements. Then we optimise the system parameters using genetic algorithms with the help of a rigid body simulation library. Transferring the evolved control system from the simulation to the physical world poses a number of challenges, especially because of complex sensor and actuator noise in the real world and inaccuracies in the physics model. Methods to minimise these problems are the injection of artificial noise into the simulation process and/or the use of multiple dynamic simulation systems simultaneously. The larger variance in the resulting simulation will result in a generally smaller reality gap and subsequently a control algorithm that is more easily adapted to a real robot.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Mechanisms and Robotic Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
