Teleoperation of a Biped Robot

MOYA V.; SLAWIÑSKI E.; MUT V:

Buenos Aires

Congreso; 2018 Argentine Conference on Automatic Control, AADECA 2018; 2018

AADECA

This paper presents a control scheme to teleoperate the forward speed of a bipedal robot. The robot´s model used represents a underactuated system of 5 degrees of freedom and is implement in Matlab/SimMechanics. The references given to each joint are inspired by the way people walk, while the control mechanism is based on a dynamic compensation that uses the generating data by a P+d controller and a neural network that identifies the plant, these elements together improve the biped walk. In addition, simulation´s results are shown to evaluate the operation of the proposed scheme. © 2018 Argentine Association of Automatic Control.