EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT
In this paper, the optimal control is analyzed to compare the results of the zero moment point of a bipedal walking robot. Seventeen degrees of freedom bipedal walking robot is manufactured of hard Aluminum sheets. The zero moment point is calculated experimentally and theoretically in the single su...
| Main Authors: | , |
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| Format: | Article |
| Language: | Arabic |
| Published: |
Mustansiriyah University/College of Engineering
2020-11-01
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| Series: | Journal of Engineering and Sustainable Development |
| Subjects: | |
| Online Access: | https://www.iasj.net/iasj/download/a36a3136b040955c |
| _version_ | 1818807074625159168 |
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| author | Ali Fawzi Abdul Kareem Ahmed Abdul Hussein Ali |
| author_facet | Ali Fawzi Abdul Kareem Ahmed Abdul Hussein Ali |
| author_sort | Ali Fawzi Abdul Kareem |
| collection | DOAJ |
| description | In this paper, the optimal control is analyzed to compare the results of the zero moment point of a bipedal walking robot. Seventeen degrees of freedom bipedal walking robot is manufactured of hard Aluminum sheets. The zero moment point is calculated experimentally and theoretically in the single support phase. MATLAB Simulink is used to simulate the results. The experimental results showed that the lower link takes the settling time is (1) sec, the middle link takes settling time (0.9) sec and the upper link takes (1.1) sec to arrive the desired zero moment point for the bipedal walking robot. The minimum performance index in the experimental parts occurs when the optimal feedback control gain is [35.5 30.4 5 -4]. Hence, the minimum performance index in the theoretical part is [35 31 5.2 -4]. The dimensions of the foot area are (12.3cm×6.3cm), 2.3cm thickness, and 32g weight. Also, the approximate balance area in the double support phase equals the area between the feet of the robot. |
| first_indexed | 2024-12-18T19:19:53Z |
| format | Article |
| id | doaj.art-df6ae52d4522469480ab9cc9e4457bb2 |
| institution | Directory Open Access Journal |
| issn | 2520-0917 2520-0925 |
| language | Arabic |
| last_indexed | 2024-12-18T19:19:53Z |
| publishDate | 2020-11-01 |
| publisher | Mustansiriyah University/College of Engineering |
| record_format | Article |
| series | Journal of Engineering and Sustainable Development |
| spelling | doaj.art-df6ae52d4522469480ab9cc9e4457bb22022-12-21T20:56:03ZaraMustansiriyah University/College of EngineeringJournal of Engineering and Sustainable Development2520-09172520-09252020-11-012406688210.31272/jeasd.24.6.6EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOTAli Fawzi Abdul Kareem0Ahmed Abdul Hussein Ali1PhD student, Mechanical Engineering Department, College of Engineering, University of Baghdad, Baghdad, Iraq.Prof. Dr., Mechanical Engineering Department, College of Engineering, University of Baghdad, Baghdad, Iraq.In this paper, the optimal control is analyzed to compare the results of the zero moment point of a bipedal walking robot. Seventeen degrees of freedom bipedal walking robot is manufactured of hard Aluminum sheets. The zero moment point is calculated experimentally and theoretically in the single support phase. MATLAB Simulink is used to simulate the results. The experimental results showed that the lower link takes the settling time is (1) sec, the middle link takes settling time (0.9) sec and the upper link takes (1.1) sec to arrive the desired zero moment point for the bipedal walking robot. The minimum performance index in the experimental parts occurs when the optimal feedback control gain is [35.5 30.4 5 -4]. Hence, the minimum performance index in the theoretical part is [35 31 5.2 -4]. The dimensions of the foot area are (12.3cm×6.3cm), 2.3cm thickness, and 32g weight. Also, the approximate balance area in the double support phase equals the area between the feet of the robot.https://www.iasj.net/iasj/download/a36a3136b040955cexperimental optimal balancetheoretical optimal controloptimal zero moment pointexperimental zero moment pointtheoretical zero moment point |
| spellingShingle | Ali Fawzi Abdul Kareem Ahmed Abdul Hussein Ali EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT Journal of Engineering and Sustainable Development experimental optimal balance theoretical optimal control optimal zero moment point experimental zero moment point theoretical zero moment point |
| title | EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT |
| title_full | EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT |
| title_fullStr | EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT |
| title_full_unstemmed | EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT |
| title_short | EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT |
| title_sort | experimental and theoretical optimal regulator control of balance zero moment point for bipedal robot |
| topic | experimental optimal balance theoretical optimal control optimal zero moment point experimental zero moment point theoretical zero moment point |
| url | https://www.iasj.net/iasj/download/a36a3136b040955c |
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