This presentation describes the mechanism of Biped robots and its stability.Components,structure,power source, involved in Robot leg. Types of sensors and actuators involved in Robots.It finds application in operation where involvement of human being is hazardous to their health.It increases accuracy and productivity in Industries.
8. PID CONTROL SYSTEM
Proportional-integral-derivative (PID) control
Is control loop feedback mechanism
Controller minimizes the error
three-term control: P I D
PID equation
Kp – Proportional Gain
Ki – Integral Gain
Kd- Derivative Gain
13. STABILITY OF A ROBOT
STABILITY
BIPED
CG
ZMP
QUADRUPPED CG
14. where x.... , y.... and ..z.. are linear
accelerations, Iix and Iiy , are inertia
coefficients, aix and aiy are
angular accelerations, mi is the mass of the link
i, and g is the gravitational acceleration
DETERMINATION OF ZMP
Biped lumped mass model.
15. The ZMP is defined as the point on
the ground where the sum of all
the active moments of force is null.
Minimum distance between the
ZMP and the border of the stable
region is called the stability margin
This can be considered as an indicator of
the quality of the robot’s stability.
16. CHARACTERISTICS OF HUMANOIDS
• Self-maintenance
• Autonomous learning
• Avoiding harmful situations to people,
property, and itself
• Safe interacting with human beings and the
environment
• Legged locomotion
• Arm control and dexterous manipulation
17. LEG-WHEEL HYBRID ROBOTS
• • The Mini-Andros is used
• by bomb squads across
• the country to locate and
• dispose of bombs. About
• three feet long, the Mini-
• Andros looks something
• like a small armoured
• tank with eight wheels on
• four "legs" that extend
• for climbing stairs.
Shrimp (EPFL)
18. a) Biped leg-wheel robot (1998) b) Roller Walker (1996)
c) RHex (2001) d) Whegs II (2003)
Leg–wheel hybrid robots