1. Bipedal Robotics
-Umme Sumaya Jannat

2. What is bipedalism?
Basically two legged locomotion.

3. But Why??
• Our environment is more suitable for Bipedal machines
• Bipedal robots are more mobile and versatile
• Bipedal robots can use two footholds separately and thus, can traverse discontinuous, discreet, rough terrains
• Social acceptance
• They are amazing!!

4. Expected Movements
 Standing: Stand still with the support of its two legs, maintaining a “stance”
 Walking: Moving with one foot in front of other, with one foot of the ground at one time
 Running: Same as walking, with the exception of two feet above the ground at a time
 Jumping: Both feet move together, stays above the ground at the same time
 Climbing Stairs: The knee is a must!

5. Bipedal “Walking”
0 Types of Walking –
1. Static
2. Dynamic
0 Sensors
- Proprioceptive Sensors
- Exteroceptive Sensors
0 DOF

6. Choosing a type
STATIC
• Center of mass always within the foot area, thus more
balanced
• Easier to control
• (Almost) Never falls
• Uses a LOT of energy
• S-L-O-W
• Works only on flat surface
DYNAMIC
• Center of mass can be outside the support area, less stable
• Harder to control
• Constantly falling
• More energy efficient
• A lot faster-
• Works on rough, discontinuous surfaces

7. The obvious choice is dynamic walking! (cause we like to take the harder route :P)

8. The Gait Cycle

10. Control Systems
 Open Loop Control System
 Closed Loop Control System
PID (Or maybe an algo devised by SUST_Optimistic, who knows :P)
Cubic Polynomial Interpolation

11. …so we could learn to pick
ourselves up!
• Inverted Pendulum